AbstractThe sophisticated, modular and adaptable body plan of arthropods underpins their dominance in marine invertebrate communities. The origin of this body plan from legged lobopodian worms can be inferred from Cambrian Konservat‐Lagerstätten, but our understanding retains some notable gaps: not least in the transition from swimming lobopodians such as Kerygmachela and Pambdelurion to robustly sclerotized radiodonts such as Anomalocaris. A large Pambdelurion‐like fossil from the Xiaoshiba biota, Omnidens qiongqii sp. nov., exhibits a novel combination of characters: an oral apparatus with a non‐radial configuration; and centimetric talon‐like grasping structures with heavily sclerotized blade‐like spines. The novel morphology broadens the interpretative framework for associated Cambrian taxa, demonstrating continuity in the morphology of euarthropod appendages prior to the origin of podomeres. A reappraisal of the euarthropod stem lineage suggests that radially arranged mouthparts may be a radiodont novelty, rather than an inheritance from the ancestral ecdysozoan. These results further resolve the evolutionary origins of the euarthropod body plan.