The latter was fired on Sunday after Atletico lost 2-1 at home to Figueirense a day earlier. The defeat left them in 14th place in the Campeonato Brasileiro table, just two points above the relegation zone.
Cuca, who resigned as manager of Cruzeiro last month, will replace him, and will take charge of the club for the next game, when they host Botafogo in the Copa Sudamericana.
As for Dorival, he now looks likely to take over at Internacional, who are without a coach since the departure of Paulo Roberto Falcao. Inter had previously made an approach for Dorival, but could not afford Atletico’s requested fee.