score:5
As of January 1st 2018 you can visit Brest and certain areas around it for 10 days visa free (77 countries). You can also visit areas around Grodno. http://www.belarus.by/en/press-center/press-release/visa-free-travel-time-up-to-ten-days-in-parts-of-brest-oblast-grodno-oblast-as-from-1-january_i_0000071906.html List of visa free countries http://mfa.gov.by/upload/17.01.11_list_states_eng.pdf
Upvote:2
List from William's answer is visa-free scheme list for visitors from 80 countries entering Minsk Airport. Correct list for scheme of 77 countries citizens' visa-free-entering eastern borders is here: http://president.gov.by/uploads/documents/ukaz462.doc (you could put the text, which is in Russian, into Google Translate to see if your citizenship applies.)
Upvote:7
You do need a visa to enter Belarus by land and visit Brest, and this has always been the case.
You can only enter visa-free at Minsk Airport or by land through the Belovezhskaya Pushcha National Park or the AugustΓ³w Canal, and you must then remain within these precincts, none of which include Brest.