The Upper Amazon Maipurean languages, North Amazonian or Inland Northern Maipuran, are Arawakan languages of the northern Amazon in Colombia, Venezuela, Peru, and Brazil.

Kaufman (1994)

Kaufman (1994) gives the following breakdown (Aikhenvald's names of branches in parentheses):

• Western Nawiki (Colombian)
  • Wainumá group (†)
    • Wainumá (†)
    • Mariaté (†)
    • Anauyá (†)
  • Piapoko group
    • Achagua
      Achagua language
      Achagua is a language spoken in the Meta Department of Colombia, similar to Piapoco. It is estimated that 400 individuals speak the language, most or all of whom are trilingual in Piapoco and Spanish.There is 1 to 5% literacy in Achagua....
      
       (Achawa)
    • Piapoco
    • Amarizana (†)
    • Caviyari (Cabiyarí) (†?)
  • Warekena group
    • Guarequena (Warekena)
    • Mandahuaca (Mandawaka)
  • Río Negro group (†)
    • Jumana (Yumana) (†)
    • Pasé (†)
    • Cawishana (†)
  • Yucuna group
    • Yucuna
      Yucuna language
      Yucuna is an Arawakan language of Colombia. Extinct Guarú was either a dialect or a closely related language....
      
       (Jukuna)
    • Guarú (†)
• Eastern Nawiki (Upper Rio Negro)
  • Tariana
    Tariana language
    Tariana is an endangered Maipurean language spoken along the Vaupés River in Amazonas, Brazil by approximately 100 people. Another approximately 1500 people in the upper and middle Vaupés River area identify themselves as ethnic Tariana but no longer speak the language.The Tariana and East Tucano...
    
    
  • Karu group
    • Kurripako ( Ipeka-Tapuia-Curripako)
    • Baniwa
      Baniwa language
      Baniwa , or Baniwa of Içana , is an Arawakan language spoken in Amazonas, Brazil, and in Venezuela.Aikhenvald considers Curripaco and Kadaupuritana to be dialects; Kaufman considers them to be distinct languages. Ethnologue distinguishes only the first...
      
       (Carútana-Baniwa)
    • Katpolítani-Moriwene-Mapanai (Kadaupuritana)
• Resígaro
  Resígaro language
  Resígaro is a possibly extinct Arawakan language of Peru.Aikhenvald classifies it among the Western Nawiki Upper Amazonian languages. Kaufman had made it a separate branch of Upper Amazonian....
  
  (†?)
• Central Upper Amazon (Orinoco) (†)
  • Baré group (†)
    • Marawá (†)
    • Baré
      Baré language
      Baré is an Arawakan language, probably extinct, of Venezuela and Brazil. Aikhenvald reports "just a few old speakers left" of Baré proper, and that the Guinau variety was extinct. Ethnologue reports "no known speakers". Kaufman considers Baré proper, Guinau, and extinct Marawá to be distinct...
      
       (†)
    • Guinao (†)
  • Yavitero group (†)
    • Yavitero
      Yavitero language
      -External links:*...
      
       (†)
    • Baniva (Baniwa)
    • Maipure
      Maipure language
      Maipure , once spoken along the Ventuari, Sipapo, and Autana rivers and, as a lingua franca, in the Upper Orinoco region, became extinct around the end of the eighteenth century...
      
       (†)
• Manao (Middle Rio Negro) (†)
  • Manao (†)
  • Kariaí (Cariyai) (†)

He leaves the following Upper Amazon languages unclassified:

• Shiriana
  Shiriana language
  Shiriana is an unclassified Upper Amazon Arawakan language once spoken by the Shiriana people of Roraima, Brazil....
  
   (Xiriâna, Yabaána (†), Waraikú (Araikú) (†), Wiriná (†)

Aikhenvald (1999)

Aikhenvald (1999) classified a couple languages Kaufman left out (Shiriana, Yabaâna), but leaves several of his Western Nawiki languages and branches unclassified. Several languages—Maipure, Resígaro, Cawishana, Mandahuaca, and Guarequena—are moved. She treats the Yucuna, Karu (Baniwa), and Bare groups as single languages.

• Western Nawiki (Colombian)
  • Maipure
    Maipure language
    Maipure , once spoken along the Ventuari, Sipapo, and Autana rivers and, as a lingua franca, in the Upper Orinoco region, became extinct around the end of the eighteenth century...
    
     (†)
  • Resígaro
    Resígaro language
    Resígaro is a possibly extinct Arawakan language of Peru.Aikhenvald classifies it among the Western Nawiki Upper Amazonian languages. Kaufman had made it a separate branch of Upper Amazonian....
    
     (†?)
  • Achagua
    Achagua language
    Achagua is a language spoken in the Meta Department of Colombia, similar to Piapoco. It is estimated that 400 individuals speak the language, most or all of whom are trilingual in Piapoco and Spanish.There is 1 to 5% literacy in Achagua....
    
     (Achawa)
  • Piapoco
  • Caviyari (Cabiyarí) (†?)
  • Yucuna
    Yucuna language
    Yucuna is an Arawakan language of Colombia. Extinct Guarú was either a dialect or a closely related language....
    
     (Jukuna) (dialect: KadaupuritanaGuarú]] (†))
• Eastern Nawiki (Upper Rio Negro)
  • Tariana
    Tariana language
    Tariana is an endangered Maipurean language spoken along the Vaupés River in Amazonas, Brazil by approximately 100 people. Another approximately 1500 people in the upper and middle Vaupés River area identify themselves as ethnic Tariana but no longer speak the language.The Tariana and East Tucano...
    
    
  • Baniwa
    Baniwa language
    Baniwa , or Baniwa of Içana , is an Arawakan language spoken in Amazonas, Brazil, and in Venezuela.Aikhenvald considers Curripaco and Kadaupuritana to be dialects; Kaufman considers them to be distinct languages. Ethnologue distinguishes only the first...
    
     (Carútana-Baniwa) (dialects: Curripako, Catapolítani)
  • Guarequena (Warekena)
• Central Upper Amazon (Orinoco) (†)
  • Mandahuaca (Mandawaka)
  • Yabaâna (†)
  • Baré
    Baré language
    Baré is an Arawakan language, probably extinct, of Venezuela and Brazil. Aikhenvald reports "just a few old speakers left" of Baré proper, and that the Guinau variety was extinct. Ethnologue reports "no known speakers". Kaufman considers Baré proper, Guinau, and extinct Marawá to be distinct...
    
     (†) (dialect: Guinao)
  • Yavitero
    Yavitero language
    -External links:*...
    
     (†)
  • Baniwa of Guainia (Abane)
• Manao (Middle Rio Negro) (†)
  • Manao (†)
  • Shiriana
    Shiriana language
    Shiriana is an unclassified Upper Amazon Arawakan language once spoken by the Shiriana people of Roraima, Brazil....
    
     (Xiriâna)
  • Cawishana (Kaiʃana) (†)

Unclassified (†): Wainumá (qtj), Mariaté (qtw), Anauyá (qjb), Amarizana (qah), Jumana (Yumana) (qtl), Pasé (qoj), Kariaí (Cariyai) (qce), Waraikú (Araikú) (qm3), Wiriná (qg7). Cabre was found in the area of the Western Nawiki languages, but only a few words are known. The "Ponares language" listed in Ethnologue may have been Piapoco or Achagua.