Lobopodians, a nonmonophyletic assemblage of worm-shaped soft-bodied animals most closely related to arthropods, show two major morphotypes: long-legged and short-legged forms. The morphotype with stubby, conical legs has a long evolutionary history, from the early Cambrian 1 through the Carboniferous 2, 3, including the living onychophorans and tardigrades 4–6. Species with tubular lobopods exceeding the body diameter have been reported exclusively from the Cambrian 7–12; the three-dimensionally preserved Orstenotubulus evamuellerae from the uppermost middle Cambrian “Orsten” (Sweden) is the youngest long-legged lobopodian reported thus far 8. Here we describe a new long-legged lobopodian, Carbotubulus waloszeki gen. et sp. nov., from Mazon Creek, Illinois, USA (∼296 million years ago) 13. This first post-Cambrian long-legged lobopodian extends the range of this morphotype by about 200 million years. The three-dimensionally preserved specimen differs significantly from the associated short-legged form Ilyodes inopinata 2, of which we also present new head details. The discovery of a Carboniferous long-legged lobopodian provides a more striking example of the long-term survival of Cambrian morphotypes than, for example, the occurrence of a Burgess Shale-type biota in the Ordovician of Morocco 14 and dampens the effect of any major extinction of taxa at the end of the middle Cambrian 15, 16. ► The first post-Cambrian long-legged lobopodian was found in the late Carboniferous ► It is about 200 million years younger than other long-legged lobopodians ► This finding is an extreme example of a long-term survival of a Cambrian morphotype