Cnidaria
Jellyfish, hydras, corals, sea anemones
Porifera
Sponges
Platyhelminthes
Flatworms, tapeworms, flukes, planarians
Nematoda
Roundworms, hookworms
Annelida
Earthworms
Arthropoda
Most diverse and successful phyla
Insects, Arachnids, crustaceans, triliobites
Cycliophora
Most recently discovered phyla
Mollusca
Gastropoda, bivalves, Cephalopods