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Fossil record

Echinoderms first appeared in the fossil record in the Cambrian. The first known asterozoans were the Somasteroidea, which exhibit characteristics of both groups. Starfish are infrequently found as fossils, possibly because their hard skeletal components separate as the animal decays. Despite this, there are a few places where accumulations of complete skeletal structures occur, fossilized in place in Lagerstätten – so-called "starfish beds".

By the late Paleozoic, the crinoids and blastoids were the predominant echinoderms, and some limestones from this period are made almost entirely from fragments from these groups. In the two major extinction events that occurred during the late Devonian and late Permian, the blastoids were wiped out and only a few species of crinoids survived. Many starfish species also became extinct in these events, but afterwards the surviving few species diversified rapidly within about sixty million years during the Early Jurassic and the beginning of the Middle Jurassic. A 2012 study found that speciation in starfish can occur rapidly. During the last 6,000 years, divergence in the larval development of Cryptasterina hystera and Cryptasterina pentagona has taken place, the former adopting internal fertilization and brooding and the latter remaining a broadcast spawner.