Plesiotypotherium was first described in 1974 by Villarroel, based on well-preserved fossils found near the location Achiri, in Bolivia, dated from the Middle to Late Miocene.

More recent findings from the locality Chasira, also in Bolivia, were attributed to the new species p. casirense Studies carried out on the postcranial skeleton of Plesiotypotherium have permitted to determine that it was adapted for burrowing into the ground, perhaps to unearth its alimentation, potentially composed of roots and tubers.

[1][2] A skeleton belonging to Plesiotypotherium achirense showed numerous pathologies preserved in its bones and dentition.

The skeleton shows the bilateral absence of permanent hypselodont molars, as well than the exostosis of several leg bones.

Given its numerous pathologies, one could assume that this individual may have been an easy prey ; however, its long term survival suggests a low predatory pressure, a hypothesis congruent with the virtual absence of carnivorous vertebrates in the fossil record of the Achiri area, where its fossils were discovered.