Xiphosurida is an ingroup of marine Euchelicerata often referred to as “living fossils”. However, this oxymoronic term is inapplicable for Paleozoic and early Mesozoic forms, as during these periods the group experienced notable evolutionary radiations; particularly the diverse late Palaeozoic clade Belinurina. Despite the iconic nature of the group, select species in this clade have been left undescribed in the light of recent geometric morphometric and phylogenetic considerations and methodologies. To this end, we re-describe Prolimulus woodwardi Fritsch, 1899 using new and type specimens to reveal more details on appendage anatomy and possible ecology. Furthermore, we present geometric morphometric and phylogenetic analyses that uncover relationships between P. woodwardi and other belinurids without genal spines. Both approaches highlight that a clade containing Prolimulus Fritsch, 1899, Liomesaspis Raymond, 1944, Alanops Racheboeuf, Vannier & Anderson, 2002 and Stilpnocephalus Selden, Simonetto & Marsiglio, 2019 may exist. While we do not erect a new group to contain these genera, we note that these genera exemplify the extreme limits of the Belinurina radiation and a peak in horseshoe crab diversity and disparity. This evidence also illustrates how changes in heterochronic timing are a key evolutionary phenomenon that can drive radiations among animals.