In Fall 2007, Castroneves became a contestant on ABC's Dancing With the Stars television program in the United States, paired with season 4 champion, Julianne Hough. On a show based on judges scores and fan votes, he was announced the season 5 winner on November 27, 2007.

In Fall 2012, Castroneves was invited back to participate on ABC's Dancing With the Stars - All Stars. He was paired with the talented Chelsie Hightower. After only 3 weeks of competition, they did not have enough votes to stay on the show. Helio enjoyed being back on the show, and appreciated the opportunity to compete again.