Two wins over Lebanon have put the team to the brink of a place in the final round of qualification. A point from the last two Group Four matches will be enough.
The Brazilian, who took the reins in March 2007, will be replaced by Nasser Al Johar.
"General president of youth welfare and chairman of the Saudi Football Federation Prince Sultan Bin Fahd Bin Abdul Aziz made the decision on Sunday to sack current national-team coach Brazilian Mr Helio Dos Anjosa statement from the Saudi Arabian Football Federation read.
"Saudi coach Nasser Al Johar will replace Dos Anjos for the remaining fixtures in the Asian qualifiers."
"Mr Helio dos Anjos was not able to improve the squad's ability despite being given every opportunity during his time with the team."
"We wish him a successful career in the future."
Saudi Arabia face Singapore on Saturday.