Ecdysozoa phyla

Onychophora (from , , "claws"; and , , "to carry"), commonly known as velvet worms (for their velvety texture and somewhat wormlike appearance) or more ambiguously as peripatus (after the first described genus, Peripatus), is a phylum of elongate, soft-bodied, many-legged animals. In appearance they have variously been compared to worms with legs, caterpillars, and slugs. They prey upon other invertebrates, which they catch by ejecting an adhesive slime. Approximately 200 species of velvet worms have been described, although the true number is likely to be much greater.

Nematomorpha (sometimes called Gordiacea, and commonly known as horsehair worms, hairsnakes, or Gordian worms) are a phylum of parasitoid animals similar to yet distinct from nematode worms in morphology, hence the name. Most species range in size from , reaching in extreme cases, and in diameter. Horsehair worms can be discovered in damp areas, such as watering troughs, swimming pools, streams, puddles, and cisterns. The adult worms are free-living, but the larvae are parasitic on arthropods, such as beetles, cockroaches, mantises, orthopterans, and crustaceans. About 351 freshwater species a

Kinorhyncha (, ' "snout") is a phylum of small marine invertebrates that are widespread in mud or sand at all depths as part of the meiobenthos. They are commonly called mud dragons'''. Modern species are or less, but Cambrian forms could reach .

Priapulida (priapulid worms, from Gr. πριάπος, priāpos 'Priapus' + Lat. -ul-, diminutive), sometimes referred to as penis worms, is a phylum of unsegmented marine worms. The name of the phylum relates to the Greek god of fertility, because their general shape and their extensible spiny introvert (eversible) proboscis may resemble the shape of a human penis.

Loricifera (from Latin, lorica, corselet (armour) + ferre, to bear), also known as corset animals, is a phylum of very small to microscopic marine scalidophoran sediment-dwelling animals with 43 described species and approximately 100 more that have been collected and not yet described. Their sizes range from 100 μm to .

Lobopodians are members of the informal group Lobopodia (), or the formally erected phylum Lobopoda Cavalier-Smith (1998). They are panarthropods with stubby legs called lobopods, a term which may also be used as a common name of this group as well. While the definition of lobopodians may differ between literatures, it usually refers to a group of soft-bodied, marine (and freshwater) worm-like fossil panarthropods such as Aysheaia and Hallucigenia. However, other genera like Kerygmachela and Pambdelurion (which have features similar to other groups) are often referred to as "gilled lobopodians