This family of four Recent genera and five species occurred in historical time in most of Africa south of the Sahara, perhaps in parts of North Africa, and in south-central and southeastern Asia. Of the four, Dicerorhinus is thought to be the most primitive and to have affinity to Rhinoceros, while the other two genera are considered to be closely related to one another. There are additional subfamilies and families of fossil rhinoceroses.
Females are smaller than males.
The coloration is grayish to brownish, but the true color is often concealed by a coating of mud. The thick skin, which is scantily haired and wrinkled, is furrowed or pleated, having the appearance of riveted armor plate in some species. The tail bears stiff bristles. Rhinoceroses have a massive body, a large head, one or two horns, a short neck, a broad chest, and short, stumpy legs. The radius and ulna, and the tibia and fibula, are only slightly movable but well developed and separate.