The aim of this study was to evaluate the frequency of roots, root canals and apical foramina in human permanent teeth using cone beam computed tomography (CBCT). CBCT images of 1,400 teeth from database previously evaluated were used to determine the frequency of number of roots, root canals and apical foramina. All teeth were evaluated by preview of the planes sagittal, axial, and coronal. Navigation in axial slices of 0.1 mm/0.1 mm followed the coronal to apical direction, as well as the apical to coronal direction. Two examiners assessed all CBCT images. Statistical data were analyzed including frequency distribution and cross-tabulation. The highest frequency of four root canals and four apical foramina was found in maxillary first molars (76%, 33%, respectively), followed by maxillary second molars (41%, 25%, respectively). The frequency of four root canals in mandibular first molars was 51%. Mandibular first premolars had two root canals and two apical foramina in 29% and 20% of the cases, respectively. Mandibular central and lateral incisors and canines presented two root canals in 35%, 42% and 22% of the cases, respectively. The navigation strategy in CBCT images favors a better identification of frequency and position of roots, root canals and apical foramina in human permanent teeth.