The present work aimed to determine the sample size (number of sampling points) needed to estimate the average population density of caterpillars and evaluate the sample size variability due to caterpillars sizes, species and crop growth stages. In 6.16 ha of soybean, a grid was marked with 154 sampling points spaced 20 x 20 m. Population density data were collected from small and large larvae of the species Anticarsia gemmatalis, Pseudoplusia includens and Spodoptera eridania, through vertical beat sheet on 14 phenological stages. Were calculated measures of central tendency, variability and spatial distribution and calculated the sample sizes. There is variability in sample size to estimate the average population density of caterpillars sizes, species and soybean growth stages. Smaller sample sizes are needed for small larvae, the specie A. Gemmatalis for intermediate growth stages (R1, R2, R3, R4 and R5.1) about large larvae, the species P. includens and S. eridania the early growth stages (V7, V9 and V11) and finals (R5.3, R5.5 and R6), respectively. For total caterpillars, 18 sampling points are enough to estimate the average population density, for an estimation error equal to 30% of the estimated average, with a 95% confidence level, during intermediate growth stages (R1, R2, R3, R4 and R5.1).