Heteropteran legs are very diverse within and among taxa, and such variation is frequently correlated with life habits. Structural modifications are commonly present in the legs of the Pentatomoidea but are poorly studied. Using scanning electron microscopy, the tibia and pretarsal microstructure of 82 species of Pentatomidae (Heteroptera), three species of Scutelleridae, and ten species of Thyreocoridae were described, focusing on the pretarsal structure, the foretibial apparatus, and the foretibial comb. The Pentatomidae, the Scutelleridae, and the Thyreocoridae have uniform pretarsal structures. Variation can be found in the length of the parempodial setae and in the shape of the parempodial projections. The foretibial combs of the Pentatomidae, the Thyreocoridae, and the Scutelleridae are described for the first time, and we have demonstrated that there is low structural variation in the foretibial comb complex of the studied species. The setae organization and distribution on the foretibial apparatus is uniform in the families studied. However, the Asopinae (Pentatomidae) bear a foretibial apparatus that is uniquely organized. The taxonomic and phylogenetic relevance of the pretarsal traits, the foretibial apparatus, and the foretibial comb are discussed.