Fossils of Sarcosaurus were found in the Lower Lias of England. The type species, Sarcosaurus woodi, was first described by Charles William Andrews in 1921 shortly after a partial skeleton had been found by S.L. Wood near Barrow-on-Soar. The generic name is derived from Greek sarx, "flesh". The specific name honours Wood. The holotype, BMNH 4840/1, consists of a pelvis, a vertebra and the upper part of a femur. The preserved length of the femur is 31.5 centimetres.[1]