RIO DE JANEIRO—Brazilian state-controlled oil company Petró leo Brasileiro SA said Friday it will settle part of its massive tax liabilities with the government at a cost of 2 billion reais ($572 million) in the third quarter.

The decision, and a similar pay-up announced earlier this month that hurt Petrobras' second-quarter results, came as Brazilian authorities grasp for tax income to stem a widening fiscal deficit amid a flailing economy. Under a tax-amnesty program launched Aug. 3, Petrobras has been able to end certain tax disputes on what it considers to be favorable terms.

But the settlements come at a time when Petrobras, too, is hard-up for cash. With one of the highest debt loads in the corporate world—415.55 billion reais in total debt at the end of the second quarter—the company has plans to sell off nearly $60 billion in assets by 2018. Petrobras also slashed almost $77 billion from its investment budget over the next five years.

It isn't clear whether potential settlements with Brazil's tax-hungry government will be significant enough to alter that picture. According to its 2014 annual report, Petrobras has 98 billion reais in "contingent" tax liabilities—possible losses that have not been provisioned in financial statements because they remain in dispute.

Several analysts complained about the lack of clarity surrounding tax disputes in a conference call last week after Petrobras reported a 90% drop in second-quarter net profit. The decline was due in part to a 3.9 billion reais charge related to a similar settlement.

Chief Financial Officer Ivan Monteiro responded to an analyst's question that because the tax-amnesty ordinance "is a very recent one," the company was "still assessing" the final impact.

In the settlement announced Friday, Petrobras got a 50% discount on a 6 billion reais tax debt related to its failure to withhold and pay income tax on remittances to an overseas subsidiary for payment of petroleum imports in 1999-2002, 2004, 2005, and 2007-12. Much of the 3 billion reais that Petrobras has agreed to pay is either in judicial escrow or can be covered by tax credits, but Petrobras said it will suffer a negative 2 billion reais impact in the third quarter.

Write to Paul Kiernan at paul.kiernan@wsj.com

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