The role of paedomorphosis as a particular case of heterochrony in the origin and evolution of the class Holothuroidea is analyzed. It is shown that holothurians are characterized by the presence of some paedomorphic characters (reduced skeleton, absence of an axial complex in the shape of a morphologically integrated structure, single gonad with one gonopore). In many members of the subclass Holothuriacea, sclerites of the body wall are arranged in two layers. Sclerites of the deeper layer develop as a perforated plate and correspond to the skeletal elements forming in other echinoderms the body skeleton, for example, the test of sea urchins. Sclerites of the superficial layer frequently look like various tables, develop like spines of other echinoderm classes, in particular, juvenile tetraradiate spines of sea urchins, and correspond to spines of other classes of Echinodermata. Ontogenetic changes at the stage of five first tentacles resulted in interruption at an early stage of the development with the catastrophic metamorphosis, which is typical for other Eleutherozoa. The ontogeny of holothurians acquired the evolutive (gradual) character; the adult body began to develop on the basis of the larval body and larval tissues were partially included in the body of adult holothurians. As a result, the place and developmental pattern of the radial complex of organs changed and heterochrony in the development of characters concerned with different coordination chains intensified; therefore, the modern body plan of holothurians was formed. The processes of paedomorphosis and heterochrony played an important role not only in the origin and formation of the class Holothuroidea, but also during its evolution. Paedomorphic processes became rather important in the evolution of the order Synaptida. Paedomorphic features are particularly prominent in the structure of small interstitial forms. In some holothurians, the paedomorphosis resulted in the change in relationships between symmetry planes. The bilateral plane of symmetry of these holothurians coincide with the plane of symmetry 2–1–2, which is positioned in the majority of holothurians at about 72° to the bilateral plane. Independently, but frequently in parallel, the intestinal loop disappeared, so that the gut became straight and suspended on mediodorsal mesentery almost throughout its extent. The combination of these processes in holothurians of the order Synaptida resulted in the formation of almost complete pentaradially bilateral symmetry.