Xenusion auerswaldae is an early lobopodian known from three specimens found in glacial erratics on the Baltic coast of Germany. Another specimen, discovered shortly after the holotype, was briefly observed but soon went missing. Except for this lost specimen, the fossils probably originated in the Kalmarsund Sandstone of Southern Sweden, which was deposited in the Lower Cambrian (Upper Tommotian–Lower Atdabanian; Stages 2→3). It is the oldest currently known lobopodian with soft body fossils.
The specimens are not especially well preserved. The older specimen is 10 cm or so in length with a narrow, weakly segmented body. Assuming it was the posterior section, the specimen was estimated to be part of an animal about 20 cm in length. There is presumably a spine on each body bump and faint transverse parallel striations on the annulations on the legs.
While Xenusion has also been reinterpreted as an Ediacaran frond animal by Tarlo, as illustrated by McMenamin, this has not been accepted in subsequent works such as The Treatise on Invertebrate Paleontology and other publications.