Mercury is a toxic element that harms organisms and disturbs biogeochemical cycles. Mercury bioremediation is based on the reduction of Hg (II) to Hg (0) by mercury-resistant bacteria. Cupriavidus metallidurans MSR33 possesses a broad-spectrum mercury resistance. This study aims to establish the effects of mercury on growth, oxygen uptake, and mercury removal parameters by C. metallidurans MSR33 in aqueous solution during aerobic and anaerobic mercury bioremediation. A new culture medium (GBC) was designed. The effects of mercury (II) (20 ppm) on growth parameters, oxygen uptake, and mercury removal were evaluated in GBC medium in a bioreactor (3 L) under aerobiosis. The anaerobic kinetics of mercury removal was evaluated by nitrogen replacement during mercury bioremediation in a bioreactor. Strain MSR33 reached a growth rate of µ = 0.43 h−1 in the bioreactor. Mercury inhibited oxygen uptake and bacterial growth; however, this inhibition was reversed after 5 h. Strain MSR33 was able to reduce Hg (II) under aerobic and anaerobic conditions, reaching, at 24 h, a metal removal of 97% and 71%, respectively. Therefore, oxygen was crucial for efficient mercury removal by this bacterium. Strain MSR33 was capable of tolerating the toxic effects of mercury (II) during aerobic bioremediation and recovered its metabolic activity.