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The oldest known fossils assigned to Equidae were found in North America, and date from the early Eocene epoch, 54 million years ago. They were once assigned to the genus Hyracotherium, but the type species of that genus is now regarded as a palaeothere. The other species have been split off into different genera. These early equids were fox-sized animals with three toes on the hind feet, and four on the front feet. They were herbivorous browsers on relatively soft plants, and already adapted for running. The complexity of their brains suggest that they already were alert and intelligent animals. Later species reduced the number of toes, and developed teeth more suited for grinding up grasses and other tough plant food.
The equids, like other perissodactyls, are hindgut fermenters. They have evolved specialized teeth that cut and shear tough plant matter to accommodate their fibrous diet. Their seemingly inefficient digestion strategy is a result of their size at the time of its evolution, as they would have already had to be relatively large mammals to be supported on such a strategy.
The family became relatively diverse during the Miocene epoch, with many new species appearing. By this time, equids were more truly horse like, having developed the typical body shape of the modern animals. Many of these species bore the main weight of their bodies on their central third toe, with the others becoming reduced and barely touching the ground, if at all. The sole surviving genus, Equus, had evolved by the early Pleistocene epoch, and spread rapidly through the world.
Order Perissodactyla (In addition to Equidae, Perissodactyla includes four species of tapir in a single genus, as well as five living species (belonging to four genera) of rhinoceros.) † indicates extinct taxa.
Although the plains and mountain zebras have been placed in Hippotigris and Grévy's zebra in Dolichohippus, Vilstrup et al. (2013) finds that the plains zebra and Grévy's zebra are more closely related. Groves and Bell (2004) place all three species in the subgenus Hippotigris.
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Cantalapiedra, Juan L.; Sanisdro, Oscar L.; Cantero, Enrique; Prado, Jose Luis; Alberdi, Mª Teresa Luis (4 August 2023). "Evolutionary Radiation of Equids". In Prins, Herbert H.; Gordon, Ian J. (eds.). The Equids, A Suite of Splendid Species. Fascinating Life Sciences. Springer. pp. 27–45. doi:10.1007/978-3-031-27144-1_2. ISBN978-3-031-27143-4 – via www.springer.com.
Hay, Oliver P. (1915). "Contributions to the Knowledge of the Mammals of the Pleistocene of North America". Proceedings of the United States National Museum. 48 (2086): 535–549. doi:10.5479/si.00963801.48-2086.515
Aouraghe, Hassan; et al. (1999). "Les équidés du Pléstocène supérior de la grotte Zouhrah à El Harhoura, Maroc". Quaternaire (in French). 10: 283–292. doi:10.3406/quate.1999.1649.