A survey of the Asclepiadoideae (Apocynaceae) of Espinhaço Range, Minas Gerais, was prepared as part of the floristic studies conducted by Universidade de São Paulo in campos rupestres. The subfamily, traditionally known as Asclepiadaceae, comprises 99 species and 20 genera in the region (synopsis). Most species are included in Ditassa R.Br. (41 spp.) and other genera of Metastelmatinae; Oxypetalum R.Br. (21 spp.) is, however, the second largest genus in the region. The species are arranged according to their postulated affinities. Descriptions, synonymy, illustrations, and comments on the species and genera accepted in this study are provided. The diversity of Asclepiadoideae and the restricted geographical distribution of many species confirm the high rate of endemism characteristic of the Espinhaço Range. This work has indicated several taxonomic problems that will require broader populational studies or worldwide analyses of particular taxonomic groups.