What period was it when all of the major animal phlya on earth today evolved?

The major animal phyla on Earth today primarily evolved during the Cambrian Period, which lasted from about 541 to 485 million years ago. This era is marked by the "Cambrian Explosion," a rapid diversification of life forms and the appearance of many complex organisms. Most of the major animal groups we see today emerged during this time, establishing the foundational body plans that characterize modern animals.