Horrifying scene down in Brazil … a passenger plane just crashed in the middle of a neighborhood … and the crash and fiery aftermath is all caught on video.

Incredible footage from Brazil’s Sao Paulo state shows Friday’s plane crash … you see a huge commercial airliner in free-fall, spiraling out of the sky and crashing to the ground as locals look on in horror.

A huge smoke plume rises into the air just seconds after the crash, and additional videos show the burning wreckage on the ground.

Check it out … looks like the plane fuselage is smack in the middle of a residential area … with massive flames burning just feet from people’s properties.

Firefighters on the ground say the plane crashed in the city of Vinhedo, according to the Associated Press … though it’s unclear how many passengers were aboard, or which airline was operating the flight.

Based on what we’re seeing here, it doesn’t appear there were any survivors … the fuselage is a complete wreck, and the fire and smoke don’t bode well either.