The first tetrapodomorphs , which included the gigantic rhizodonts , had the same general anatomy as the lungfish , who were their closest kin , but they appear not to have left their water habitat until the late Devonian epoch ( 385 - 359 Ma ) , with the appearance of tetrapods ( four-legged vertebrates ) .
The first tetrapodomorphs , which included the gigantic rhizodonts , had the same general anatomy as the lungfish , who were their closest kin , but they appear not to have left their water habitat until the later Devonian epoch ( 385 -- 359 mya ) , with the appearance of tetrapods ( four-legged vertebrates ) .