Significance How bodily arousal states influence decision-making has been a central question in psychology, but the neural mechanisms are unclear. We recorded heart rate (HR), a measure of bodily arousal, while simultaneously monitoring neural activity in orbitofrontal cortex (OFC) and dorsal anterior cingulate cortex (dACC) of macaques making reward-guided decisions. In intact macaques, higher HR was associated with shorter reaction times. Concurrently, the activity of a set of neurons in OFC and dACC selectively encoded HR. Following amygdala lesions, HR generally increased, and now the relationship between HR and reaction times was altered. At the neural level, the balance of encoding in dACC shifted toward signaling HR, suggesting a specific mechanism through which bodily arousal influences decision-making.