Riot police in Rio de Janeiro had encircled the area early on Saturday expecting a court order to evict them.
The building is meant to be demolished as part of preparations for next year's World Cup.
Community leaders said they were ready to fight back with bows and arrows.
Campaigners say the eviction and demolition of the historic building - Rio's former indigenous museum, built in 1862 - are unnecessary.
The community, known as Aldeia Maracana (or Maracana tribe), settled in the disused building six years ago.
'Tourist attraction'
Brazilian authorities say the area needs to be cleared for the circulation of fans during the 2014 World Cup.
Rio's governor Sergio Cabral recently said the demolition was being demanded by the Fifa, the international football federation.
But Fifa's office in Brazil issued a letter denying the claim, says the BBC's Julia Carneiro in Rio.
There are plans to build a car park in the area. A nearby state school is also due to be demolished, despite protests by parents.
Several matches will be played in Brazil's biggest and most famous stadium, including the World Cup final.
When it reopens, in the next few months, it will have a total capacity of 78,000 spectators.
Maracana will also host the opening and closing ceremonies of the 2016 Olympics.
The old Indigenous Museum, which belongs to the federal government, is in urgent need of repair. More than 20 families live there, planting traditional herbs and tobacco.
Campaign groups have tried to save it and keep the indigenous community where it has lived for the past six years.
The community hoped to be able to showcase their way of life to tourists during the World Cup.
Opposition legislator at the Rio de Janeiro Assembly Marcelo Freixo said tourists "would rather see a historic building next to the stadium than a car park or fast food joint".
A legal battle has been going on for months.
The local authorities have failed to get the court order, but campaigners expect the local authorities to continue pursuing the eviction in the next few days.

Wales face Ukraine in their penultimate warm-up match before Euro 2016, and the last before the manager names his 23-man squad for the tournament.
Coleman knows the fixture could be a risk, but adds it is one worth taking.
"When you go to places like this you find out a lot about players. We want it to be risky and edgy," he said.
"You learn nothing if you go into a game knowing if we are at 80% we will win 4-0."
Wales, who drew 1-1 with Northern Ireland on Thursday, will again be without Real Madrid forward Gareth Bale and Arsenal midfielder Aaron Ramsey at Kiev's 70,000-capacity Olympic Stadium.
Ukraine have also qualified for Euro 2016, and Coleman believes taking on such a tough trip will help his relatively inexperienced team.
"If you go into a hostile environment against a good team, you know you can end up with egg on your face if you do not turn up and perform," he said.
"But I prefer it like this. We are in their backyard in a tough atmosphere, and we have to show we can cope."
Coleman, however, has the comfort of being able to call on his first-choice defence and is likely to return to five at the back.
The fit-again Ben Davies is set to join skipper Ashley Williams and James Chester in the centre of defence, with Chris Gunter and Neil Taylor deployed as wing-backs.
"The edge in the atmosphere is not for everyone," said Coleman.
"But guys like Ashley Williams are always the same in mentality - he always plays with that meaning and gives everything he has got."
A Brazilian indigenous community that has been facing eviction from a building next to the Maracana football stadium has celebrated the police's decision to leave the area.
[NEXT_CONCEPT]
Wales manager Chris Coleman believes his team will benefit from the hostility they are likely to face in Monday's friendly in Kiev.