Ecdysozoan worms (Nematoida + Scalidophora) are typified by disparate grades of neural organization reflecting a complex evolutionary history. The fossil record offers a unique opportunity to reconstruct the early character evolution of the nervous system via the exceptional preservation of extinct representatives. We focus here on their nervous system as it appears in early and mid-Cambrian fossils. We show that some of the oldest known representatives of the group either preserved in carbonaceous compression (early and mid-Cambrian Burgess-type preservation) or secondarily phosphatized in three-dimensions (3D) (e.g. basal Cambrian Kuanchuanpu Formation, ca. 535 ma) had an unpaired ventral nerve cord (VNC) that ran along the trunk in an eccentric position as in modern priapulids and nematodes. A phylogenetic analysis integrating these fossil data suggests that ancestral scalidophorans had an unpaired VNC and that paired nervous systems probably evolved independently in Kinorhyncha and Loricifera, and, more importantly, in panarthropods in possible relation with the rise of paired appendages and bilaterally coordinated motricity.

Fossils from the early Cambrian indicate that arthropods evolved from worm-like ancestors with a single ventral nerve cord.