Prominent hypotheses advanced over the past two decades have sought to characterize the Late Cretaceous continental vertebrate palaeobiogeography of Gondwanan landmasses, but have proved difficult to test because terrestrial vertebrates from the final ~30 million years of the Mesozoic are extremely rare and fragmentary on continental Africa (including the then-conjoined Arabian Peninsula but excluding the island of Madagascar). Here we describe a new titanosaurian sauropod dinosaur, Mansourasaurus shahinae gen. et sp. nov., from the Upper Cretaceous (Campanian) Quseir Formation of the Dakhla Oasis of the Egyptian Western Desert. Represented by an associated partial skeleton that includes cranial elements, Mansourasaurus is the most completely preserved land-living vertebrate from the post-Cenomanian Cretaceous (~94-66 million years ago) of the African continent. Phylogenetic analyses demonstrate that Mansourasaurus is nested within a clade of penecontemporaneous titanosaurians from southern Europe and eastern Asia, thereby providing the first unambiguous evidence for a post-Cenomanian Cretaceous continental vertebrate clade that inhabited both Africa and Europe. The close relationship of Mansourasaurus to coeval Eurasian titanosaurians indicates that terrestrial vertebrate dispersal occurred between Eurasia and northern Africa after the tectonic separation of the latter from South America ~100 million years ago. These findings counter hypotheses that dinosaur faunas of the African mainland were completely isolated during the post-Cenomanian Cretaceous.