Edrioasteroidea is an extinct class of echinoderms. The living animal would have resembled a pentamerously symmetrical disc or cushion. They were obligate encrusters and attached themselves to inorganic or biologic hard substrates (frequently hardgrounds or brachiopods).

The oldest undisputed fossils of Edrioasteroidea are known from Cambrian (Stage 3, about 515-520 Ma ago) of Laurentia and are among the oldest known fossils of echinoderms. Some authors propose that an enigmatic Ediacaran (about 600 Ma) organism Arkarua is also an edrioasteroid, but this interpretation did not gain wide acceptance. Last edrioasteroids are known from Permian (Late Kungurian, about 270-280 Ma).