PoriferaCtenophoraCnidariaLobopodiaTardigradaChelicerataCrustaceaMyriapodaInsectaNematodaRotifera
PlatyhelminthaNemertiniAnnelidaMolluscaHemichordataTunicataVertebrataBryozoaChengjiang Burgess ShaleCrown Group Bilaterians
Total BilateriansCrown Group MetazoansVendian Cambrian Ordovician Silurian Devonian Carboniferous PermianPriapulidaChaetognathaBrachiopodaEchinodermataCephalochordataFIGURE 5.7. The branching history of the animals, based on molecular data. (Drawing by Carl Buell; modified
from Briggs and Fortey 2005: fig. 2)