Mammals evolved from reptiles during the Triassic period, descending from reptilian synapsids. Key mammalian characteristics developed over time, including hairy skin, specialized dentition, and a high metabolic rate allowing for a constant body temperature. Early mammals originated from cynodont therapsids in the Late Triassic and included primitive groups like docodonts, triconodonts, symmetrodonts, pantotheres, and multituberculates which dominated until the rise of modern mammal groups in the Cenozoic. Key skull and jaw bones were adapted over generations to form the mammalian middle ear from ancestral jaw structures.