The accident took place while Dunga was traveling from Sao Paulo to Campina Grande do Sul on Sunday afternoon. He and his wife were said to be on their way back home after visiting relatives, The Sun reported.
Dunga's wife, Evanir Verri, was sitting in the passenger seat when the accident occurred. The car was seriously damaged, but the couple only suffered minor injuries and were discharged from the hospital the next day.
Dunga's son Bruno thanked the doctors and those who helped their parents. In a post on social media, he wrote: "I want to thank everyone for your concern and support for the family, and the truck driver who immediately helped with first aid and took us to Angelina Caron hospital where we were provided with dedicated care from doctors and nurses."
Police said the former Brazilian midfielder showed no signs of alcohol use when the accident occurred. They believe the cause of the accident was due to slippery road after heavy rain.
Dunga was the captain of the Brazil team that won the 1994 World Cup. The 60-year-old legend also won two Copa America titles and an Olympic silver medal. He had stints as the head coach of Brazil national football team from 2006 to 2010 and from 2014 to 2016.