The paper proposes an overview of the endoskeletal structures of the head and trunk in the different arthropod groups: Chelicerata, Crustacea, Myriapoda and Hexapoda (=Insecta s.l.). Two major endoskeletal systems are reported with their cytological characteristics: those made up of connective tissue derived from muscular tendons, and those consisting of cuticular rods or plates arising from integumentary ingrowths. The morphological value of the various endoskeletal structures, their possible homologies in different groups, and their presumed evolutionary changes are discussed. This survey may be considered as a first step to use morphological characteristics of the endoskeleton in future cladistic analyses to assess the phylogeny of arthropods.