Abstract Many tetrapod lineages show extreme increases in body mass in their evolutionary history, associated with important osteological changes. The ankle joint, essential for foot movement, is assumed to be particularly affected in this regard. We investigated the morphological adaptations of the astragalus and the calcaneus in Rhinocerotidae, and analysed them in light of a comparative analysis with other Perissodactyla. We performed 3D geometric morphometrics and correlated shape with centroid size of the bone and body mass of the species. Our results show that mass has an influence on bone shape in Rhinocerotidae and in Perissodactyla, but this is not as strong as expected. In heavy animals the astragalus has a flatter trochlea, orientated more proximally, associated with a more upright posture of the limb. The calcaneus is more robust, possibly to sustain the greater tension force exerted by the muscles during plantarflexion. Both bones show wider articular facets, providing greater cohesion and better dissipation of the loading forces. The body plan of the animals also has an influence. Short-legged Teleoceratina have a flatter astragalus than the other rhinocerotids. Paraceratherium has a thinner calcaneus than expected. This study clarifies adaptations to high body weight among Rhinocerotidae and calls for similar investigations in other groups with massive forms.