At the lowest stages of organization, as well as in the embryonic period, in all vertebrates, the first rudiment of the internal skeleton is the dorsal string, the chorda dorsalis, originating from the mesoderm. The chord is a characteristic feature of the lowest representative of the chordate type, the lanceolate (Amphioxus lanceolatus), in which the skeleton consists of a dorsal dorsal string stretched along the body and surrounding connective tissue.
In lower vertebrate species [round-mouthed, selachia (sharks), and cartilaginous ganoids], the connective tissue skeleton around the chord and throughout the rest is replaced by a cartilaginous skeleton, which in turn becomes bony in more highly organized vertebrates, starting with bony fish and ending with mammals.
With the development of the latter, the chord disappears, with the exception of insignificant remnants (the gelatinous nucleus of the intervertebral disc). Aquatic forms could manage with a cartilaginous skeleton, since the mechanical load in the aquatic environment is incomparably less than in the air. But only the bony skeleton allowed the animals to come out of the water onto land, lift their bodies off the ground and stand firmly on their feet.
Thus, in the process of phylogeny, as a phenomenon of adaptation to the environment, there is a sequential change of 3 types of skeleton.
This change is repeated in the process of human ontogenesis, during which 3 stages of skeletal development are observed.: 1) connective tissue (membranous), 2) cartilaginous and 3) bony. Almost all bones go through these 3 stages of development, with the exception of the bones of the cranial vault, most of the bones of the face, and parts of the collarbone, which arise directly from the connective tissue, bypassing the cartilage stage. These integumentary bones, as they are called, can be considered as derivatives of the once-former outer skeleton, which shifted deep into the mesoderm and joined the inner skeleton as its complement in further evolution.
Source: Meduniverse