The 25-year-old arrived in the Taunton area earlier this year and impressed as a trialist during several pre-season games.
But the paperwork to play him in competitive matches has only now been completed.
Camilo spent his early career playing for a number of clubs in his home city Rio de Janeiro before he moved to Portugal and played for Marrazes, Nogueirense and his most recent club Industrial Desportivo Vierense.
He will definitely be in Taunton's squad for Saturday's home game against Chesham United.
Meanwhile Taunton are in no hurry to replace ex-boss Leigh Robinson and his assistant Michael Meaker who have joined Vanarama National League South side Truro City.
Coach Rob Dray, who has been put in charge of team affairs along with Matt Villis, said: "The club is exploring all avenues.
"We worked very well with Leigh and we were sorry to see him go. His departure doesn't mean wholesale changes - hopefully nothing much will change".
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