Researchers were hiking in a remote riverbed of South Texas in the US when they spotted a row of bones imprinted on a rock.
When they cleared away some dirt, they discovered the fossil trapped in the Eagle Ford limestone.
"Very rarely do we get really complete skeletons out of the Eagle Ford," said Josh Lively, a PhD candidate at the University of Texas in Austin.
"Whenever you have an associated skeleton like this, when you have multiple parts of the animal, it's a really important find," Lively said.
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They were disappearing when the Eagle Ford formed, between 88 million and 96 million years ago, the 'Houston Chronicle' reported.
Before this, the latest ichthyosaur found in Texas was 97 million years old. The new fossil dates back about 92 million years making it the oldest example of an ichthyosaur found in North America, according to Lively.
However, researchers are not completely sure that the fossil belongs to an ichthyosaur. According to Lively, it could be a plesiosaur - a much larger underwater reptile that resembles the Loch Ness monster.
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