Mammalian organogenesis is an astonishing process. Within a short window of time, the cells of the three germ layers transform into an embryo that includes most major internal and external organs. Here we set out to investigate the transcriptional dynamics of mouse organogenesis at single cell resolution. With sci-RNA-seq3, we profiled ~2 million cells, derived from 61 embryos staged between 9.5 and 13.5 days of gestation, in a single experiment. The resulting ‘mouse organogenesis cell atlas’ (MOCA) provides a global view of developmental processes during this critical window. We identify hundreds of cell types and 56 trajectories, many of which are detected only because of the depth of cellular coverage, and collectively define thousands of corresponding marker genes. With Monocle 3, we explore the dynamics of gene expression within cell types and trajectories over time, including focused analyses of the apical ectodermal ridge, limb mesenchyme and skeletal muscle.