In a tense and dramatic qualifying session, both men broke the lap record several times as Rosberg finally topped the times with a best lap in one minute and 10.023 seconds.
This was just 0.033 seconds faster than Hamilton’s best lap and enabled him to complete a clean sweep, having topped the times in all three practice sessions.
The previous best qualifying lap at Interlagos was set by Rubens Barrichello who clocked 1:10.646 in 2004 for Ferrari.
Rosberg’s success earned him the Pole Position Trophy as best qualifier of the season and earned Mercedes their record-equalling 18th pole of the season, drawing level with Red Bull.
Hamilton had done his best to outpace his title rival, but knew too that with a lead of 24 points in the championship he can afford to finish second on Sunday and in the season-ending race in Abu Dhabi, where double points will be scored, to take his second drivers’ crown.
Brazilian Felipe Massa was third fastest for Williams and greeted by a standing ovation from the fanatical Interlagos crowd. His Williams team-mate Valtteri Bottas was fourth quickest.
Jenson Button, without a confirmed drive or seat in Formula One next year, proved his enduring talent by qualifying fifth for McLaren ahead of four-time world champion Sebastian Vettel of Red Bull.