The incident occurred after the Tottenham forward scored in the 19th minute. He ran towards the corner flag at the Parc des Princes and a banana was thrown on to the pitch, landing beside his feet.
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Manchester United midfielder Fred can then be seen kicking it off to sidelines, before other objects were thrown.
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The players had posed with a banner that read 'Without our black players, we wouldn't have stars on our shirts' prior to the game.
Richarlison took to Twitter after the game and said: "As long as it's 'blah blah blah' and they don't punish, it will continue like this, happening every day and everywhere. No time, bro!"
The Brazil Football Federation issued a statement on social media condemning the racist abuse.
It read: "After Brazil's second goal, a banana was thrown towards Richarlison. The CBF reinforces its stance against discrimination and vehemently repudiates yet another episode of racism in football.
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"Whether on or off the field, attitudes like this cannot be tolerated."
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CBF president Ednaldo Rodrigues added: "Once again, I come publicly to express my rejection. This time I saw it with my own eyes. This shocks us. We must always remember that we are all the same, regardless of colour, race or religion.
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"The fight against racism is not a cause, but a fundamental (battle for) change to wipe this type of crime from the planet. I insist on saying that the punishments need to be more severe."
Chelsea defender and Brazil captain Thiago Silva also condemned the abuse.
"It's a shame and it's difficult to see such images," he said.
"I don't know if the videos against racism that we had prepared were shown on the screens. But things like this keep happening.
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"Unfortunately, we can't change anything about people's mentality. I hope that the public will be aware that this is not acceptable and that it belongs to the past. We have to change."
Brazil won the match 5-1 with Raphinha scoring twice, and Neymar and Abreu dos Santos also on the scoresheet.