Xenusion auerswaldae is an early lobopodian known from three[1] specimens found in glacial erratics on the Baltic coast of Germany.

Except for this lost specimen, the fossils probably originated in the Kalmarsund Sandstone of Southern Sweden,[3] which was deposited in the Lower Cambrian (Upper Tommotian–Lower Atdabanian; Stages 2→3).

There is a slightly bulbous termination, and each segment before that seems to have a single pair of tapering annulated legs similar to the modern onychophoran, but without specialized feet and claws.

Based on a new specimen that shows the anterior section, it possibly had a long narrow proboscis,[2] but this also suggested to be a preservational artefact.

[8] In a photograph presented in The Treatise on Invertebrate Paleontology Volume O, the organism's appearance seems to support the original interpretation more.