Scientists studied fossils of tiny marine creatures unearthed in Namibia which may be related to many of today's animal species.
Until now, the oldest evidence of complex animals - which succeeded more primitive creatures that often resembled sponges or coral - came from the Cambrian Period, which began around 541 million years ago, researchers said.
Scientists had long suspected that complex animals had existed before but, until now, they had no proof.
Genetic family tree data suggested that complex animals - known as bilaterians - evolved prior to the Cambrian Period. The finding suggests that bilaterians may have lived as early as 550 million years ago, during the late Ediacaran Period.
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The team studied fossils of an extinct marine animal - known as Namacalathus hermanastes - which was widespread during the Ediacaran Period.
The fossils are remarkably well preserved and show that the species possessed a rigid skeleton made of calcium carbonate - a hard material from which the shells of marine animals are made.
The complex skeletal structures are similar to those of living creatures that dwell at the bottom of the sea, researchers said.
"This study suggests that it was, in fact, more advanced. We have suspected that these complex animals were present in the Ediacaran, but this study provides the first proof," Wood said.
The study was published in the journal Proceedings of the Royal Society B.