Most urchins are grazers, scraping animal and plant material off surfaces as they move slowly along. Algae, bryozoans, sponges, and even sea cucumbers may be food to an urchin. A complex jaw apparatus called the Aristotle's lantern allows grazing urchins to eat just about anything. The lantern contains five teeth which are used for chewing, but can also be pushed out through the mouth for scraping. Feeding by urchins makes a star-shaped imprint from the lantern. When fossilized, the imprint leaves a record of urchin activity that can be interpreted by paleontologists. Some urchins, such as sand dollars and heart urchins, have evolved to burrow. While grazing urchins tend to have sharp spines that protect them from predators as they move along the seabed, burrowing urchins do not. Some burrowers lack the Aristotle's lantern, but others use the lantern and strong teeth to crush and ingest sand grains.

Echinoderms move using rows of small tube feet powered by a fluid-filled (water vascular) system. The fluid travels from central, circular canals out through radial canals like the spokes of a wheel. Along the spokes are the tube feet, which typically end in adhesive pads. Each tube foot is kept firm by internal fluid pressure. By sticking down and unsticking in coordinated waves, the tube feet inch the animal along a surface. The water vascular system used for locomotion can also function for feeding. Some echinoderms pass small pieces of food along from foot to foot until it reaches their mouths. The otherwise soft echinoderm body gets the support it needs from a skeleton made of calcified pieces (ossicles). Ossicles often have spiny projections that give the overlying skin a prickly appearance (echino = spiny; dermis skin).

Echinoderms appear in the fossil record more than 500 million years ago, during the early Cambrian. What are usually left behind are hard mouthparts or parts of their skeletons, made of calcite plates. Rarely, an entire skeleton fossilizes, for example in a situation where it was quickly buried in sand. Even a piece of skeleton can provide information, because echinoderms have specific patterns in their skeletons. The echinoderms you see today have five-point (pentaradial) symmetry, often noticeable in five arms. While some of the earliest echinoderms were pentaradial, others had unusual body shapes. The “helioplacoids” had long, oval-shaped bodies with no arms, and a spiral pattern on the surface from tube feet wrapped around a central core. Helioplacoids went extinct even before the end of the Cambrian, as did a variety of other echinoderms, including the star-shaped Somasteroidea. Some echinoderms survived and diversified, becoming dominant in the oceans of the Paleozoic era.