Aristarchus of Samos
While a moving Earth was proposed at least from the 4th century BC in Pythagoreanism, and a fully developed heliocentric model was developed by Aristarchus of Samos in the 3rd century BC, these ideas were not successful in replacing the view of a static spherical Earth, and from the 2nd century AD the predominant model, which would be inherited by medieval astronomy, was the geocentric model described in Ptolemy's "Almagest".