New World porcupines (Erethizontinae) originated in South America and dispersed into North America as part of the Great American Biotic Interchange (GABI) 3-4 million years ago. 1 David Webb S. The Great American Biotic Interchange: patterns and processes. Ann. Mo. Bot. Gard. 2006; 93: 245-257https://doi.org/10.3417/0026-6493(2006)93[245:TGABIP]2.0.CO;2 Crossref Scopus (191) Google Scholar Extant prehensile-tailed porcupines (Coendou) today live in tropical forests of Central and South America. 2 Menezes F.H. Feijó A. Fernandes-Ferreira H. Da Costa I.R. Cordeiro-Estrela P. Integrative systematics of Neotropical porcupines of Coendou prehensilis complex (Rodentia: Erethizontidae). J. Zool. Syst. Evol. Res. 2021; 59: 2410-2439https://doi.org/10.1111/jzs.12529 Crossref Scopus (10) Google Scholar ,3 Voss R.S. Hubbard C. Jansa S.A. Phylogenetic relationships of New World porcupines (Rodentia, Erethizontidae): implications for taxonomy, morphological evolution, and biogeography. Am. Mus. 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Fossil porcupine (Mammalia, Rodentia, Erethizontidae) from El Golfo de Santa Clara, Sonora, Mexico, with a review of the taxonomy of the North American erethizontids. Contrib. Sci. (Los Angel.). 2016; 524: 1-29https://doi.org/10.5962/p.241300 Crossref Google Scholar ,18 Sussman D.R. The erethizontid fossil from the Uquía formation of Argentina should not be referred to the genus Erethizon. J. S. Am. Earth Sci. 2011; 31: 475-478https://doi.org/10.1016/j.jsames.2011.02.016 Crossref Scopus (3) Google Scholar Here, we describe functionally important features of the skeleton of the extinct Erethizon poyeri, the oldest nearly complete porcupine skeleton documented from North America, found in the early Pleistocene of Florida. It differs from extant E. dorsatum in having a long, prehensile tail, grasping foot, and lacking dental specializations for bark gnawing, similar to tropical Coendou. Results from phylogenetic analysis suggest that the more arboreal characteristics found in E. poyeri are ancestral for erethizontines. Only after it expanded into temperate, Nearctic habitats did Erethizon acquire the characteristic features that it is known for today. When combined with molecular estimates of divergence times, results suggest that Erethizon was ecologically similar to a larger species of Coendou when it crossed the Isthmus of Panama by the early Pleistocene. It is likely that the range of this more tropically adapted form was limited to a continuous forested biome that extended from South America through the Gulf Coast.