Pterosaurs' hip sockets are oriented facing slightly upwards, and the head of the femur (thigh bone) is only moderately inward facing, suggesting that pterosaurs had an erect stance.
It would have been possible to lift the thigh into a horizontal position during flight, as gliding lizards do.

There was considerable debate whether pterosaurs ambulated as quadrupeds or as bipeds.
In the 1980s, paleontologist Kevin Padian suggested that smaller pterosaurs with longer hindlimbs, such as Dimorphodon, might have walked or even ran bipedally, in addition to flying, like road runners.
However, a large number of pterosaur trackways were later found with a distinctive four-toed hind foot and three-toed front foot; these are the unmistakable prints of pterosaurs walking on all fours.

Fossil footprints show that pterosaurs stood with the entire foot in contact with the ground (plantigrade), in a manner similar to many mammals like humans and bears.
Footprints from azhdarchids and several unidentified species show that pterosaurs walked with an erect posture with their four limbs held almost vertically beneath the body, an energy-efficient stance used by most modern birds and mammals, rather than the sprawled limbs of modern reptiles.
Indeed, erect-limbs may be omnipresent in pterosaurs.

Though traditionally depicted as ungainly and awkward when on the ground, the anatomy of some pterosaurs (particularly pterodactyloids) suggests that they were competent walkers and runners.
Early pterosaurs have long been considered particularly cumbersome locomotors due to the presence of large cruropatagia, but they too appear to have been generally efficient on the ground.

The forelimb bones of azhdarchids and ornithocheirids were unusually long compared to other pterosaurs, and, in azhdarchids, the bones of the arm and hand (metacarpals) were particularly elongated.
Furthermore, as a whole, azhdarchid front limbs were proportioned similarly to fast-running ungulate mammals.
Their hind limbs, on the other hand, were not built for speed, but they were long compared with most pterosaurs, and allowed for a long stride length.
While azhdarchid pterosaurs probably could not run, they would have been relatively fast and energy efficient.

The relative size of the hands and feet in pterosaurs (by comparison with modern animals such as birds) may indicate the type of lifestyle pterosaurs led on the ground.
Azhdarchid pterosaurs had relatively small feet compared to their body size and leg length, with foot length only about 25%–30% the length of the lower leg.
This suggests that azhdarchids were better adapted to walking on dry, relatively solid ground.
Pteranodon had slightly larger feet (47% the length of the tibia), while filter-feeding pterosaurs like the ctenochasmatoids had very large feet (69% of tibial length in Pterodactylus, 84% in Pterodaustro), adapted to walking in soft muddy soil, similar to modern wading birds.
Though clearly forelimb-based launchers, basal pterosaurs have hindlimbs well adapted for hopping, suggesting a connection with archosaurs such as Scleromochlus.
Pterosaurs' hip sockets are oriented facing slightly upwards, and the head of the femur (thigh bone) is only moderately inward facing, suggesting that pterosaurs had an erect stance. It would have been possible to lift the thigh into a horizontal position during flight, as gliding lizards do.
There was considerable debate whether pterosaurs ambulated as quadrupeds or as bipeds. In the 1980s, paleontologist Kevin Padian suggested that smaller pterosaurs with longer hindlimbs, such as Dimorphodon, might have walked or even ran bipedally, in addition to flying, like road runners. However, a large number of pterosaur trackways were later found with a distinctive four-toed hind foot and three-toed front foot; these are the unmistakable prints of pterosaurs walking on all fours.
Fossil footprints show that pterosaurs stood with the entire foot in contact with the ground (plantigrade), in a manner similar to many mammals like humans and bears. Footprints from azhdarchids and several unidentified species show that pterosaurs walked with an erect posture with their four limbs held almost vertically beneath the body, an energy-efficient stance used by most modern birds and mammals, rather than the sprawled limbs of modern reptiles. Indeed, erect-limbs may be omnipresent in pterosaurs.
Though traditionally depicted as ungainly and awkward when on the ground, the anatomy of some pterosaurs (particularly pterodactyloids) suggests that they were competent walkers and runners. Early pterosaurs have long been considered particularly cumbersome locomotors due to the presence of large cruropatagia, but they too appear to have been generally efficient on the ground.
The forelimb bones of azhdarchids and ornithocheirids were unusually long compared to other pterosaurs, and, in azhdarchids, the bones of the arm and hand (metacarpals) were particularly elongated. Furthermore, as a whole, azhdarchid front limbs were proportioned similarly to fast-running ungulate mammals. Their hind limbs, on the other hand, were not built for speed, but they were long compared with most pterosaurs, and allowed for a long stride length. While azhdarchid pterosaurs probably could not run, they would have been relatively fast and energy efficient.
The relative size of the hands and feet in pterosaurs (by comparison with modern animals such as birds) may indicate the type of lifestyle pterosaurs led on the ground. Azhdarchid pterosaurs had relatively small feet compared to their body size and leg length, with foot length only about 25%–30% the length of the lower leg. This suggests that azhdarchids were better adapted to walking on dry, relatively solid ground. Pteranodon had slightly larger feet (47% the length of the tibia), while filter-feeding pterosaurs like the ctenochasmatoids had very large feet (69% of tibial length in Pterodactylus, 84% in Pterodaustro), adapted to walking in soft muddy soil, similar to modern wading birds. Though clearly forelimb-based launchers, basal pterosaurs have hindlimbs well adapted for hopping, suggesting a connection with archosaurs such as Scleromochlus.
Pterosaur