Comparative foot morphology involves comparing the form of distal limb structures of a variety of terrestrial vertebrates. Understanding the role that the foot plays for each type of organism must take account of the differences in body type, foot shape, arrangement of structures, loading conditions and other variables. However, similarities also exist among the feet of many different terrestrial vertebrates. The paw of the dog, the hoof of the horse, the manus (forefoot) and pes (hindfoot) of the elephant, and the foot of the human all share some common features of structure, organization and function. Their foot structures function as the load-transmission platform which is essential to balance, standing and types of locomotion (such as walking, trotting, galloping and running).

The discipline of biomimetics applies the information gained by comparing the foot morphology of a variety of terrestrial vertebrates to human-engineering problems. For instance, it may provide insights that make it possible to alter the foot's load transmission in people who wear an external orthosis because of paralysis from spinal-cord injury, or who use a prosthesis following the diabetes-related amputation of a leg. Such knowledge can be incorporated in technology that improves a person's balance when standing; enables them to walk more efficiently, and to exercise; or otherwise enhances their quality of life by improving their mobility.

Limb and foot structure of representative terrestrial vertebrates:

There is considerable variation in the scale and proportions of body and limb, as well as the nature of loading, during standing and locomotion both among and between quadrupeds and bipeds. The anterior-posterior body mass distribution varies considerably among mammalian quadrupeds, which affects limb loading. When standing, many terrestrial quadrupeds support more of their weight on their forelimbs rather than their hind limbs; however, the distribution of body mass and limb loading changes when they move. Humans have a lower-limb mass that is greater than their upper-limb mass. The hind limbs of the dog and horse have a slightly greater mass than the forelimbs, whereas the elephant has proportionally longer limbs. The elephant's forelimbs are longer than its hind limbs.

In the horse and dog, the hind limbs play an important role in primary propulsion. The legged locomotion of humans generally distributes an equal loading on each lower limb. The locomotion of the elephant (which is the largest terrestrial vertebrate) displays a similar loading distribution on its hind limbs and forelimbs. The walking and running gaits of quadrupeds and bipeds show differences in the relative phase of the movements of their forelimbs and hind limbs, as well as of their right-side limbs versus their left-side limbs. Many of the aforementioned variables are connected with differences in the scaling of body and limb dimension as well as in patterns of limb coordination and movement. However, little is understood concerning the functional contribution of the foot and its structures during the weight-bearing phase. The comparative morphology of the distal limb and foot structure of some representative terrestrial vertebrates reveals some interesting similarities.

Even many terrestrial vertebrates exhibit differences in the scaling of limb dimension, limb coordination and magnitude of forelimb-hind limb loading, in the dog, horse and elephant the structure of the distal forelimb is similar to that of the distal hind limb. In the human, the structures of the hand are generally similar in shape and arrangement to those of the foot. Terrestrial vertebrate quadrupeds and bipeds generally possess distal limb and foot endoskeleton structures that are aligned in series, stacked in a relatively vertical orientation and arranged in a quasi-columnar fashion in the extended limb. In the dog and horse, the bones of the proximal limbs are oriented vertically, whereas the distal limb structures of the ankle and foot have an angulated orientation. In humans and elephants, a vertical-column orientation of the bones in the limbs and feet is also evident for associated skeletal muscle-tendon units. The horse's foot contains an external nail (hoof) oriented about the perimeter in the shape of a semicircle. The underlying bones are arranged in a semi-vertical orientation. The dog's paw similarly contains bones arranged in a semi-vertical orientation.

In the human and the elephant, the column orientation of the foot complex is replaced in humans by a plantigrade orientation, and in elephants by a semi-plantigrade alignment of the hind limb foot structure. This difference in orientation in the foot bones and joints of humans and elephants helps them to adapt to variations in the terrain.

Many representative terrestrial vertebrates possess a distal cushion on the under-surface of the foot. The dog's paw contains a number of visco-elastic pads oriented along the middle and distal foot. The horse possesses a centralized digital pad known as the frog, which is located at the distal aspect of the foot and surrounded by the hoof. Humans possess a tough fibro and elastic pad of fat that is anchored to the skin and bone of the rear portion of the foot.