Species in the genus Cnemidophorus are commonly referred to as whiptail lizards or racerunners.

A further split by Harvey et al. (2012) added the genera Ameivula and Contomastix.

The name Cnemidophorus literally means "greave-wearing", from the Ancient Greek knēmido- (combining form of knēmis, "greave", a leg armor) and -phoros ("bearer").

The genus Cnemidophorus (sensu stricto) contains the following species which are recognized as being valid.

[3] Nota bene: A binomial authority in parentheses indicates that the species was originally described in a genus other than Cnemidophorus.