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An endoskeleton is an internal support structure within an animal's body. It is composed of bone and/or cartilage and provides a framework for the body, protection for internal organs, and attachment points for muscles, allowing for movement. Unlike exoskeletons, which are external, endoskeletons grow with the animal.

The vertebrate endoskeleton is a classic example, consisting of the skull, vertebral column, ribs, and limbs. The skull protects the brain, the vertebral column supports the body and houses the spinal cord, and the ribs protect vital organs like the heart and lungs. Limbs, attached to the axial skeleton via the pectoral and pelvic girdles, enable locomotion.

In contrast to the rigid structure of bone, cartilage is more flexible and is found in areas requiring pliability, such as the joints, nose, and ears. The endoskeleton plays a crucial role in maintaining body shape, enabling a wide range of movement, and safeguarding delicate internal systems. Its presence is a defining characteristic of vertebrates and many other animal groups.