This study investigates income disparities between formal and informal workers using a recent methodology that provides robust results to assess whether there is evidence of labor market segmentation in Brazil or if there are compensating advantages that justify a worker's preference for informal employment. Utilizing data from the Continuous PNAD (National Continuous Household Survey) of 2023 and an endogenous switching regression model with copulas, the study separately controls for selection bias among formal and informal workers and explores the Average Treatment Effect (ATE). Additionally, the estimates for 2023 were replicated for the years 2018 to 2022 to check for patterns over time. This enables an analysis of potential monetary and non-monetary compensating differences between formal and informal workers in the country during this period. For formal and informal workers in the public sector, private sector, and domestic services, the selection bias analysis provides evidence favorable to the existence of a negative compensating differential in formal work, indicating that this group tends to accept a reduction in net income in exchange for labor benefits. However, after controlling for all observed and unobserved characteristics, the ATE reveals that informal workers still earn, on average, 6.56\% less. This suggests that, beyond the absence of labor rights, informal workers in the public, private, and domestic sectors tend to face monetary penalties, indicating the existence of market segmentation for this subset of workers. In contrast, for the self-employed and employers, selection bias is the main factor explaining the income disparity, indicating that individual characteristics account for a significant portion of the income difference. When observable and unobservable characteristics are controlled, the ATE reveals that self-employed or employer informal workers earn, on average, 1.85\% more than their formal counterparts. However, data from previous years (2018-2022) shows that this advantage is more sensitive in years of low economic dynamism, suggesting greater instability for these workers. In summary, the study demonstrates that informality in Brazil is associated with a penalty in labor income for those employed in the public sector, private sector, and domestic services, while for employers and self-employed individuals, a slight advantage can be observed for informal workers, although they appear more vulnerable to economic fluctuations. Overall, the separate analysis of selection bias and the average treatment effect contributes to a deeper understanding of income disparities and informs the formulation of public policies aimed at reducing informality and income inequalities in the labor market.