Dinosaur evolution

Dinosaurs evolved within a single lineage of archosaurs 232-234 Ma (million years ago) in the Ladinian age, the latter part of the middle Triassic. Dinosauria is a well-supported clade, present in 98% of bootstraps. It is diagnosed by many features including loss of the postfrontal on the skull and an elongate deltopectoral crest on the humerus.

In March 2017, scientists reported a new way of classifying the dinosaur family tree, based on newer and more evidence than available earlier. According to the new classification, the original dinosaurs, arising 200 million years ago, were small, two-footed omnivorous animals with large grasping hands. Descendants (for the non-avian dinosaurs) lasted until 66 million years ago.

The process leading up to the Dinosauromorpha and the first true dinosaurs can be followed through fossils of the early Archosaurs such as the Proterosuchidae, Erythrosuchidae and Euparkeria which have fossils dating back to 250 Ma, through mid-Triassic archosaurs such as Ticinosuchus 232-236 Ma. Crocodiles are also descendants of mid-Triassic archosaurs.

Dinosaurs can be defined as the last common ancestor of birds (Saurischia) and Triceratops (Ornithischia) and all the descendants of that ancestor. With that definition, the pterosaurs and several species of archosaurs narrowly miss out on being classified as dinosaurs. The pterosaurs are famous for flying through the Mesozoic skies on leathery wings and reaching the largest sizes of any flying animal that ever existed. Archosaur genera that also narrowly miss out on being classified as dinosaurs include Schleromochlus 220-225 Ma, Lagerpeton 230-232 Ma and Marasuchus 230-232 Ma.

...
Wikipedia