The Pantanal itself has had extremely few cases of malaria in the last few years and taking medicine against it typically hasn't been recommended, but figures can change quite dramatically in a short time and relying on info from anything other than a doctor really can't be recommended. On the contrary, most of the Amazon and to a lesser degree a few coastal regions have numerous cases of malaria each year. The charts for the various Brazilian states can be seen here; tabel 1 being the states typically considered Amazonian, while table 2 are the remaining:
http://www.cives.ufrj.br/informacao/malaria/mal-iv.html
Notice also the variations, e.g. Mato Grosso do Sul only had three documented cases in 1999-2002 and 2004-06, but 2003 alone had 31 cases (which still is very few considering the size of the state and that some of these likely originate elsewhere, but it does show the great variations that can occur from year to year). This is why it is so important to ask a specialist who'd be aware of any recent changes (just like the massive rise in dengue some major Amazonian cities have experiance in recent years). Anyway, best of luck; Brazil & the Pantanal are amazing places.