The holotype and only known specimen of Rhachiosteus pterygiatus Gross is partially redescribed and new restorations are given. Attention is drawn to important points in its osteology and the possible development of a cutaneous sensory system. A definition of the family Rhachiosteidsæ Stensiö is given. This family differs from all other described groups of euarthrodires in the lack of posterior lateral and posterior dorsolateral flank plates. Rhachiosteus is a pachyosteomorph brachythoracid, as defined in the text, and may be fairly closely related in some way to the (coccosteomorph) family Coccosteidsæ. There is no indication that it is closely related to any other known pachyosteomorph, or to other groups of arthrodires, such as the Rhenanida and Ptyctodontida, in which there are no posterior flank plates.