Limpets are a group of aquatic snails with a conical shell shape (patelliform) and a strong, muscular foot. This general category of conical shell is known as "patelliform" (dish-shaped). Existing within the class Gastropoda, limpets are a polyphyletic group (its members descending from different immediate ancestors).

All species of Patellogastropoda are limpets, with the Patellidae family in particular often referred to as "true limpets". Examples of other clades commonly referred to as limpets include the Vetigastropoda family Fissurellidae ("keyhole limpet"), which use a siphon to pump water over their gills, and the Siphonariidae ("false limpets"), which have a pneumostome for breathing air like the majority of terrestrial Gastropoda.

The basic anatomy of a limpet consists of the usual molluscan organs and systems:

The two kidneys are very different in size and location. This is a result of torsion. The left kidney is diminutive and in most limpets is barely functional. The right kidney, however, has taken over the majority of blood filtration and often extends over and around the entire mantle of the animal in a thin, almost-invisible layer.

True limpets in the family Patellidae live on hard surfaces in the intertidal zone. Unlike barnacles (which are not molluscs) and mussels (which are bivalve molluscs that cement themselves to a substrate for their entire adult lives), limpets are capable of locomotion instead of being permanently attached to a single spot. However, when they need to resist strong wave action or other disturbances, limpets cling extremely firmly to the surfaces on which they live, using their muscular foot to apply suction combined with the effect of adhesive mucus. It often is very difficult to remove a true limpet from a rock without injuring or killing it.

All "true" limpets are marine. The most primitive group have one pair of gills, in others only a single gill remains, the lepetids do not have any gills at all, while the patellids have evolved secondary gills as they have lost the original pair. However, because the adaptive feature of a simple conical shell has repeatedly arisen independently in gastropod evolution, limpets from many different evolutionary lineages occur in widely different environments. Some saltwater limpets such as Trimusculidae breathe air, and some freshwater limpets are descendants of air-breathing land snails (e.g. the genus Ancylus) whose ancestors had a pallial cavity serving as a lung. In these small freshwater limpets, that "lung" underwent secondary adaptation to allow the absorption of dissolved oxygen from water.

In order to obtain food, limpets rely on an organ called the radula, which contains iron-mineralized teeth. Although limpets contain over 100 rows of teeth, only the outermost 10 are used in feeding. These teeth form via matrix-mediated biomineralization, a cyclic process involving the delivery of iron minerals to reinforce a polymeric chitin matrix. Upon being fully mineralized, the teeth reposition themselves within the radula, allowing limpets to scrape off algae from rock surfaces. As limpet teeth wear out, they are subsequently degraded (occurring anywhere between 12 and 48 hours) and replaced with new teeth. Different limpet species exhibit different overall shapes of their teeth.

Development of limpet teeth occurs in conveyor belt style, where teeth start growing at the back of the radula, and move toward the front of this structure as they mature. The growth rate of the limpet's teeth is around 47 hours per row. Fully mature teeth are located in the scraping zone, the very front of the radula. The scraping zone is in contact with the substrate that the limpet feeds off of. As a result, the fully mature teeth are subsequently worn down until they are discarded – at a rate equal to the growth rate. To counter this degradation, a new row of teeth begin to grow.