After Parker, 1982, and Dong, Donoghue, Cheng & Liu, 2004, with species and genera from WoRMS, and Paleobiology Database

<==o Scalidophora [Cephalorhyncha sensu Neuhaus & van der Land, 2001]
   |--+-- †Ancalagon minor (Walcott, 1911) Conway Morris, 1977 [Ottoia minor Walcott, 1911] [Ancalagonidae Conway Morris, 1977]
   |  `-- †Fieldia lanceolata Walcott, 1912 [Fieldiidae]
   `--+--o †Markuelia Val´kov, 1983 [Middle and Late Cambrian protostome embryos]
      |  |-- †M. hunanensis Dong & Donoghue, in Dong, Donoghue, Cheng & Liu, 2004
      |  `-- †M. secunda
      `==o Priapulida Delage & Hérouard, 1897 (non Théel, 1906?) sensu lato [Priapuloidea] [incl. Palaeoscolecida Conway Morris & Robison, 1986 sensu Dong, Donoghue, Cheng & Liu, 2004] (makkaramadot)
         |--o †Palaeoscolecida Conway Morris & Robison, 1986
         |  |?- †Gamascolex herodes Kraft & Mergl 1989
         |  |?- †Lecythioscopa simplex (Walcott, 1931) Conway Morris, 1977
         |  |?-o †Chalazoscolecidae Conway Morris & Peel, 2010
         |  |  |-- †Chalazoscolex pharkus Conway Morris & Peel, 2010
         |  |  `-- †Xystoscolex boreogyrus Conway Morris & Peel, 2010
         |  |?-o †Tylotitidae Han et al., 2003
         |  |  `-- †Tylotites petiolaris Luo & Hu, 1999
         |  |--o †Selkirkiidae Conway Morris, 1977
         |  |  `--o †Selkirkia Walcott, 1911
         |  |     |-- †S. columbia Conway Morris, 1977
         |  |     |-- †S. elongata Luo & Hu, 1999
         |  |     |-- †S. sinica Luo & Hu, 1999
         |  |     |-- †S. spencei Resser, 1939
         |  |     `-- †S. willoughbyi Conway Morris & Robison, 1986
         |  `--+--+--o †Maotianshaniidae
         |     |  |  |-- †Maotianshania cylindrica Sun & Huo, 1987
         |     |  |  `-- †Paramaotianshania zijunia Hu et al., 2012
         |     |  `--+--o †Cricocosmiidae Hou, Bergström, Wang, Feng & Chen, 1999
         |     |     |  |-- †Cricocosmia jinningensis Hou & Sun, 2003
         |     |     |  |-- †Houscolex lepidotus Zhang & Pratt, 1996
         |     |     |  `--o †Tabelliscolex Han, Zhang & Shu, 2003
         |     |     |     |-- †T. chengjiangensis Han et al. 2007
         |     |     |     `-- †T. hexagonus Han, Zhang & Shu, 2003
         |     |     `--o †Palaeoscolecidae Whittard 1953
         |     |        |-- †Guanduscolex minor Hu, Li, Luo, Fu, You, Pang, Liu &Steiner, 2008
         |     |        |--o †Hadimopanella Gedik, 1977
         |     |        |  |-- †H. apicata Wrona, 1982
         |     |        |  `-- †H. oezgueli Gedik, 1977
         |     |        |--o †Kaimenella Märss, 1988
         |     |        |  |-- †K. dailyi Brock & Cooper, 1993
         |     |        |  `-- †K. reticulata Märss, 1988
         |     |        |-- †Mafangscolex sinensis Hu, 2005
         |     |        |--o †Palaeoscolex Whittard 1953
         |     |        |  |-- †P. lubovae
         |     |        |  |-- †P. piscatorum
         |     |        |  `-- †P. spinosus
         |     |        `-- †Sahascolex labyrinthus Ivantsov & Wrona, 2004
         |     `--o †Ottoiidae Walcott, 1911
         |        |-- †Ottoia prolifica Walcott, 1911
         |        `--+-- †Scolecofurca rara Conway Morris, 1977
         |           `--o †Louisellidae [Miskoiidae Walcott, 1911]
         |              |-- †Louisella pedunculata Walcott, 1911
         |              `--o †Corynetis [Anningvermis Huang et al. 2004]
         |                 |-- †C. multispinosus (Huang et al. 2004) [Anningvermis multispinosus Huang et al. 2004]
         |                 |-- †C. brevis Luo & Hu, 1999
         |                 `-- †C. fortis Hu et al., 2012
         `--+--o Kinorhyncha Reinhard, 1881 (mud dragons; okakaulamadot)
            |  |--o Homalorhagida
            |  |  `--o Homalorhagae
            |  |     |--o Pycnophyidae Zelinka, 1896
            |  |     |  |-- Kinorhynchus Sheremetevskij, 1974 [Leptodemus; Trachydemus Zelinka, 1907]
            |  |     |  `-- Pycnophyes Zelinka, 1907 [Centrophyes; Hyalophyes]
            |  |     `--o Neocentrophyidae Higgins, 1969
            |  |        |--o Neocentrophyes Higgins, 1969
            |  |        |  |-- N. intermedius Higgins, 1969
            |  |        |  `-- N. satyai Higgins, 1969
            |  |        `--o Paracentrophyes Higgins, 1983
            |  |           |-- P. anurus Sørensen, Pardos, Herranz & Rho, 2010
            |  |           |-- P. praedictus Higgins, 1983
            |  |           `-- P. quadridentatus (Zelinka, 1928) [Paracentrophyes flagellatus (Zelinka, 1928) ]
            |  `--o Cyclorhagida
            |     |?-o Antygomonas Nebelsick, 1990 [Antigomonas Nebelsick, 1990 unjust. emend.??][Antygomonidae Adrianov & Malakhov, 1994]
            |     |  |-- A. incomitata Nebelsick, 1990 [Antigomonas incomitata Nebelsick, 1990]
            |     |  |-- A. oreas Bauer-Nebelsick, 1996
            |     |  `-- A. paulae Sørensen, 2007
            |     |?-o Dracoderes Higgins & Shirayama, 1990 [Dracoderidae Higgins & Shirayama, 1990]
            |     |  |-- D. abei Higgins & Shirayama, 1990
            |     |  |-- D. gallaicus Sørensen, Herranz, Rho, Min, Yamasaki, Sánchez & Pardos, 2012
            |     |  `-- D. orientalis Adrianov, in Adrianov & Malakhov, 1999
            |     |?-o Zelinkaderidae Higgins, 1990
            |     |  |-- Triodontoderes anulap Sørensen & Rho, 2009
            |     |  `--o Zelinkaderes Higgins, 1990
            |     |     |-- Z. brightae Sørensen, Heiner, Ziemer & Neuhaus, 2007
            |     |     |-- Z. floridensis Higgins, 1990
            |     |     |-- Z. klepali Bauer-Nebelsick, 1995
            |     |     `-- Z. submersus (Gerlach, 1969) [Cateria submersa Gerlach, 1969]
            |     |--o Cyclorhagae
            |     |  |--o Echinoderidae Zelinka, 1894
            |     |  |  |--o Cephalorhyncha Adrianov, in Adrianov & Malakhov, 1999
            |     |  |  |  |-- C. asiatica (Adrianov, 1989) [Echinoderes asiaticus Adrianov, 1989]
            |     |  |  |  |-- C. liticola Sørensen, 2008
            |     |  |  |  `-- C. nybakkeni (Higgins, 1986) [Echinoderes nybakkeni Higgins, 1986]
            |     |  |  |-- Echinoderes Clarapède, 1863 [Centropsis; Echinoderella; Habroderella; Habroderes; Hapaloderes]
            |     |  |  |--o Fissuroderes Neuhaus & Blasche, 2006
            |     |  |  |  |-- F. higginsi Neuhaus, in Neuhaus & Blasche, 2006
            |     |  |  |  |-- F. novaezealandia Neuhaus, in Neuhaus & Blasche, 2006
            |     |  |  |  |-- F. papai Neuhaus, in Neuhaus & Blasche, 2006
            |     |  |  |  |-- F. rangi Neuhaus, in Neuhaus & Blasche, 2006
            |     |  |  |  `-- F. thermoi Neuhaus & Blasche, 2006
            |     |  |  |--o Meristoderes Herranz, Thormar, Benito, Sánchez & Sørensen, 2012
            |     |  |  |  |-- M. elleae Sørensen, Rho, Min, Kim & Chang, 2012
            |     |  |  |  |-- M. galatheae Herranz, Thormar, Benito, Sánchez & Pardos, 2012
            |     |  |  |  |-- M. glaber Sørensen, Rho, Min, Kim & Chang, 2012
            |     |  |  |  |-- M. herranzae Sørensen, Rho, Min, Kim & Chang, 2012
            |     |  |  |  |-- M. imugi Sørensen, Rho, Min, Kim & Chang, 2012
            |     |  |  |  `-- M. macracanthus Herranz, Thormar, Benito, Sánchez & Pardos, 2012
            |     |  |  `-- Polacanthoderes martinezi Sørensen, 2008
            |     |  `--o Centroderidae Zelinka, 1896
            |     |     |--o Campyloderes Zelinka, 1907
            |     |     |  |-- C. macquariae Johnston, 1938
            |     |     |  `--o C. vanhoeffeni Zelinka, 1913
            |     |     |     `-- C. vanhoeffeni var. kerguelensis Zelinka, 1913 [Campyloderes kerguelensis (Zelinka, 1913) Johnston, 1938]
            |     |     |--o Centroderes Zelinka, 1907 [incl. Zelinkiana Sheremetevskij, 1974; Reinhardella Sheremetevskij, 1974]
            |     |     |  |-- C. eisigii Zelinka, 1928
            |     |     |  `-- C. spinosus (Reinhard, 1881) [Campyloderes adherens Nyholm, 1947; Centroderes agigensis Bacescu, 1963; Reinhardella euxinica Sheremetevskij, 1974; Reinhardella spinosa Sheremetevskij, 1974; Zelinkiana adunca Sheremetevskij, 1974; Zelinkiana agigensis Sheremetevskij, 1974; Zelinkiana euxinica Sheremetevskij, 1974; Zelinkiana pseudospinosa Sheremetevskij, 1974; Zelinkiana spinosa Sheremetevskij, 1974]
            |     |     `--o Condyloderes Higgins, 1969
            |     |        |-- C. megastigma Sørensen, Rho & Kim, 2010
            |     |        |-- C. multispinosus (McIntyre, 1962) [Centroderes multispinosus McIntyre, 1962]
            |     |        |-- C. paradoxus Higgins, 1969
            |     |        |-- C. setoensis Adrianov, Murakami & Shirayama, 2002
            |     |        `-- C. storchi Higgins, in Martorelli & Higgins, 2004
            |     |--o Conchorhagae
            |     |  `--o Semnoderidae Remane, 1929
            |     |     |--o Semnoderes Zelinka, 1907
            |     |     |  |?- ?S. armatus (Zelinka, 1928) (nomen dubium)
            |     |     |  |-- S. armiger Zelinka, 1928
            |     |     |  |-- S. pacificus Higgins, 1967
            |     |     |  `-- S. ponticus Bacescu & Bacescu, 1956
            |     |     `--o Sphenoderes Higgins, 1969
            |     |        |-- S. indicus Higgins, 1969
            |     |        `-- S. poseidon Sørensen, Rho & Kim, 2010
            |     `--o Cryptorhagae
            |        `--o Cateriidae Gerlach, 1956
            |           `--o Cateria Gerlach, 1956
            |              |-- C. gerlachi Higgins, 1968
            |              `-- C. styx Gerlach, 1956
            `--+--o Loricifera Kristensen, 1983 (Brush heads)
               |  `--o Nanaloricida
               |     |--o Nanaloricidae
               |     |  |--o Armorloricus
               |     |  |  |-- A. davidi Kristensen & Gad, 2004
               |     |  |  |-- A. elegans Kristensen & Gad, 2004
               |     |  |  `-- A. kristenseni Heiner, 2004
               |     |  |-- Culexiregiloricus trichiscalida Gad, 2009
               |     |  |--o Nanaloricus Kristensen, 1983
               |     |  |  |-- N. khaitatus Todaro & Kristensen, 1998
               |     |  |  `-- N. mysticus Kristensen, 1983
               |     |  `--o Phoeniciloricus Gad, 2004
               |     |     |-- P. implidigitatus Gad, 2004
               |     |     `-- A. simplidigitatus Gad, 2004
               |     `--o Pliciloricidae Higgins & Kristensen, 1986
               |        |--o Pliciloricus Higgins & Kristensen, 1986
               |        |  |-- P. corvus Gad, 2005
               |        |  |-- P. diva Gad, 2009
               |        |  |-- P. dubius Higgins & Kristensen, 1986
               |        |  |-- P. enigmaticus Higgins & Kristensen, 1986
               |        |  |-- P. gracilis Higgins & Kristensen, 1986
               |        |  |-- P. hadalis Kristensen & Shirayama, 1988
               |        |  |-- P. leocaudatus Heiner & Kristensen, 2005
               |        |  |-- P. orphanus Higgins & Kristensen, 1986
               |        |  |-- P. pedicularis Gad, 2005
               |        |  |-- P. profundus Higgins & Kristensen, 1986
               |        |  |-- P. senicirrus Gad, 2005
               |        |  `-- P. shukeri Heiner & Kristensen, 2005
               |        |--o Rugiloricus Higgins & Kristensen, 1986
               |        |  |-- R. carolinensis Higgins & Kristensen, 1986
               |        |  |-- R. cauliculus Higgins & Kristensen, 1986
               |        |  |-- R. doliolius Gad, 2005
               |        |  |-- R. ornatus Higgins & Kristensen, 1986
               |        |  `-- R. polaris Gad & Arbizu, 2005
               |        `-- Titaniloricus inexpectatovus Gad, 2005
               `--o Priapulida Delage & Hérouard, 1897 (non Théel, 1906?) sensu stricto [Priapuloidea] (Recent priapulid worms, penis worms; makkaramadot)
                  |--o Tubiluchidae
                  |  |-- Meiopriapulus fijiensis Morse, 1981
                  |  `--o Tubiluchus van der Land, 1968
                  |     |-- T. arcticus Adrianov, Malakhov, Tchesunov & Tzetlin, 1989
                  |     |-- T. australensis van der Land, 1985
                  |     |-- T. corallicola van der Land, 1968
                  |     |-- T. philippinensis van der Land, 1985
                  |     |-- T. remanei van der Land, 1982
                  |     |-- T. troglodytes Todaro & Shirley, 2003
                  |     `-- T. vanuatensis Adrianov & Malakhov, 1991
                  `--+--o Maccabeus Por, 1973 [Seticoronaria: Seticoronarida: Maccabeidae]
                     |  |-- M. tentaculatus Por, 1973
                     |  `-- M. cirratus Malakhov, 1979
                     `--o Priapulidae [Priapulimorpha: Priapulimorphida Salvini-Plawen, 1974:]
                        |--o Halicryptus von Siebold, 1849 [Halicryptomorpha: Halicryptomorphida: Halicryptidae]
                        |  |-- H. higginsi Shirley & Storch, 1999
                        |  `-- H. spinulosus von Siebold, 1849
                        `--+--+-- †Priapulites konecniorum Schram, 1973
                           |  `-- †Xiaoheiqingella peculiaris Hu, 2002 [Yunnanpriapulus halteroformis Huang et al., 2004]
                           `--+--o Priapulopsis Koren & Danielssen, 1875
                              |  |-- P. australis (de Guerne, 1886)
                              |  |-- P. bicaudatus (Koren & Danielssen, 1868)
                              |  `-- P. cnidephorus Salvini-Plawen, 1973
                              `--+-- Acanthopriapulus horridus (Théel, 1911) van der Land, 1970
                                 `--o Priapulus Lamarck, 1816
                                    |-- P. abyssorum Menzies, 1959
                                    |-- P. caudatus Lamarck, 1816
                                    `-- P. tuberculatospinosus (Baird, 1868)

Reference(s):