プレシオサウルス類は初めピストサウルス類(英語版)のような形態から進化した。プレシオサウルス類にはいくつかの科が含まれ、それらは共通の一般的特徴を有しつつ様々な細部の特徴によって区別される。それらの科には、プレシオサウルス科(前期ジュラ紀のみに生息しており特殊化していない)、クリプトクリドゥス科(英語版)(中程度の長さをした首を持ちいくぶんずんぐりした体つきをし、クリプトクリドゥスに代表される)、エラスモサウルス科(非常に長く柔軟な首と小さな頭部を持つ)、キモリアサウルス科(英語版)(白亜紀産で余りよくわかっていない)などがある。伝統的な分類では全てのプレシオサウルス類は小さな頭部と長い首を持つことになっているが、近年の分類では、白亜紀の短い首と大きな頭部を持つポリコティルス科(英語版)はプリオサウルス類ではなくプレシオサウルス類に含まれている。プレシオサウルス類内で異なるタクサ間の大きさの変異は著しく、トリナクロメルムの全長は 3 m と推定されている一方でマウイサウルスは 20 m にまで成長した。
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