Three new types of arthropod are described from Cambrian intertidal lithofacies of the Elk Mound Group and St. Lawrence Formation of Wisconsin and the Potsdam Group of Quebec. These arthropods are preserved ventrally in sandstone in life position and in three dimensions, allowing detailed characterization of limb morphologies, labrums, and other organs such as eyes. A taphonomic model is presented, illustrating this unusual, uncompressed, three-dimensional style of preservation. Arenosicaris inflata n. sp., from the Terreneuvian-Furongian Elk Mound Group and the Furongian St. Lawrence Formation, is the earliest unambiguous occurrence of a malacostracan phyllocarid. This 3 cm long arthropod had ovate valves, five pairs of biramous pleopods, and at least 3 pairs of thoracopods. Mosinieia macnaughtoni n. sp., a large (>10 cm long) euthycarcinoid of uncertain affinity with flattened or paddle-like appendages also occurs in Elk Mound strata. Mictomerus melochevillensis n. sp. represents a new euthycarcinoid family and is the first known non-trilobite arthropod from the middle Cambrian-Furongian Potsdam Group of Quebec. M. melochevillensis n. sp. is large (8–10+ cm long), with as many as eleven pairs of well-preserved homopodous, uniramous, non-paddle-like limbs. Both M. macnaughtoni and M. melochevillensis differ substantially from previously known euthycarcinoids in limb morphology and represent the oldest known representatives of the group. Additionally, both M. melochevillensis n. sp. and M. macnaughtoni n. sp. possess morphologies that are consistent with abundant subaerial and subaqueous Diplichnites and Protichnites trackways known from these units, suggesting that these may be the earliest land-going animals.