A fossil collector found a well preserved Campylognathoides hip in a Braunschweig shale quarry in 1986.
In 1986 fossil jaw fragments containing multicusped teeth were found in Dockum Group rocks in western Texas.
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Rhiodenticulatus was first named by David S. Berman and Robert R. Reisz in 1986 and the type species is Rhiodenticulatus heatoni.