This document provides an overview of animal diversity and phylogeny from a chapter in a biology textbook. It discusses the key characteristics of animals, including being multicellular heterotrophs. It outlines the major eras in the evolutionary history of animals, from the earliest fossils to the Cambrian explosion to modern groups. It also describes differences in developmental processes between protostomes and deuterostomes. Two competing hypotheses for the phylogenetic relationships between animal phyla are presented, based on morphological vs molecular data.