An almost complete skeleton with partial cranial material (ZMNH-M8739) is recovered from the Early or Middle Jurassic of southwest China. ZMNH-M8739 is identified as a juvenile individual of basal sauropodomorph dinosaur, Yunnanosaurus robustus Young, 1951. The revised diagnoses are as follows: absence of anteroposterior expansion on the medial end of astragalus and dorsoventrally compressed medium shaft of the metatarsal IV. Unfused neural arch and finely grooved long bone surface texture indicate that this individual is in the immature growth stage. ZMNH-M8739 possesses the tooth–tooth wear facet on its mesial maxillary and dentary teeth. However, the distal maxillary teeth have coarse serrations. Such a characteristic dentition could represent a unique feeding mechanism of this animal. Finally, ZMNH-M8739 constitutes a monophyletic group with Y. robustus (holotype), and Y. huangi is nesting this clade in the phylogenetic tree of the present analysis. Comparison of juvenile and adult specimen reveals distinctive growth changes of Y. robustus. This clade is positioned in an unnamed clade at a sister taxon of Sauropoda. Finally, some members of the so-called prosauropod dinosaurs constitute a monophyletic group in the present result.