Abstract . Endothermy underpins the ecological dominance of mammals and birds in diverse environmental settings1 , 2. However, it is unclear when this crucial feature emerged during mammalian evolutionary history, as most of the fossil evidence is ambiguous3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17. Here we show that this key evolutionary transition can be investigated using the morphology of the endolymph-filled semicircul...