This study analyzed the spatial distribution of dengue in Rio de Janeiro, Brazil, in 2006, and associations between the incidence per 100,000 inhabitants and socio-environmental variables. The study analyzed reported dengue cases among the city's inhabitants, rainfall, Breteau index (for Aedes aegypti and Aedes albopictus), Gini index, and social development index. We conducted mapping and used the global Moran index to measure the indicators' spatial autocorrelation, which was positive for all variables. The generalized linear model showed a direct association between dengue incidence and rainfall, one-month rainfall time lag, Gini index, and Breteau index for A. albopictus. The conditional autoregressive model (CAR) showed a direct association with rainfall for four months of the year, rain time lag in July, and Gini index in February. The results demonstrate the importance of socio-environmental variables in the dynamics of dengue transmission and the relevance for the development of dengue control strategies.