Orycteropodidae is recognized as the only family within the order Tubulidentata, from the Latin words tubulis (tubule) and dentis (tooth), referring to the tubule-style teeth.

[1][4] The first aardvark fossil discovered was originally named Orycteropus gaudryi (now Amphiorycteropus) and was found in Turolian deposits on the island of Samos.

But their unique type of teeth and other morphological characteristics had made it clear that aardvarks are not closely related to any other living mammals.

One of the most distinctive features of the animals is that their teeth have a "tubulidentate" microstructure, lacking enamel, and are just rounded structures of dentine.

The occipital region of the skull has extensive mastoid exposure, the femur has a pectineal tubercle, and the diaphysis of the tibia is curved mediolaterally.