Is there any civilization on the banks of Amazon?

I suppose it depends on your timeframe? According to this article in Time magazine (March 2018), there was an extensive pre-Colombian settlement dating back to 1250?1500 A.D. on the banks of the Amazon.

https://time.com/5218270/amazonian-civilization-discovered-mato-grosso/

I think this paper explains it very well. As there are no roads which go close to the Amazon external access is by boat so limits the size of any settlements.

https://link.springer.com/chapter/10.1007/978-3-662-64452-2_3

All settlements and cities along the Amazon have no road connections to the interior country. Nevertheless, there are cars and especially motorcycles everywhere today, which make life easier for the people in this hot and humid climate. All goods traffic on the Amazon, on the other hand, is not carried out by road but by ships, and to a lesser extent by air or via grass tracks.

I'd love to vote for one of the prior answers, but the seventh-largest city in Brazil, Manaus (with over 2 million residents), is located in the middle of the Amazon rainforest, at the confluence of the Negro and the Amazon; in fact, in Brazil, the Amazon is known as the Solimões upstream from Manaus but becomes the Amazon when the Negro flows into it at Manaus.

Now, it's true that there aren't many roads running very far inland from Manaus, and you can't drive from Manaus to the rest of Brazil, but there are roads that run into Venezuela from there. However, most traffic to Manaus is by boat or plane. It became the center of the global rubber industry in the late 1800s and so Manaus became a very wealthy city nicknamed The Paris of the Tropics back then. After foreign industries illegally smuggled rubber trees out of the country, thus eliminating Brazil's rubber monopoly, Manaus still remained a large city -- especially after Brazil designated it as a free trade zone in the 1950s.

You need special tropical disease vaccinations to go there, but the natural scenery is breathtaking.
https://en.wikipedia.org/wiki/Manaus