Members of an order of amphibians characterized by having a tail, normal limbs, many cartilaginous skeletal elements, four-faceted articulation between the skull and vertebral column, incomplete maxillary arcade lacking a bony connection with neurocranium and palatoquadrate, and larvae with true teeth and external gills. Dates from the Middle Jurassic to present, with ten living and three extinct families, including more than 550 living species.