Banco 24H should work fine, but they have a R$15.00 transaction fee.
Bradesco doesn't seem to charge a fee, but in fact it exists, only it isn't disclosed at their ATM machines. It's a similar amount.
I have no experience at other banks with no Brazilian cards.
I believe fees depend on the card you use. Which is why I pay none when using my Citibank card (only because I have "Citigold" status). But the last time I tried to use a different card, the fee was R$8 (I declined to proceed).