A typical HISTORICAL phylogenetic tree of invertebrate phyla:
 
 
PHYLUM
Protozoans unicellular-animals
Unicellular
Poriferans sponges
Diploblasts
Cnidarians e.g jellyfish,corals
Acoelomate
Platyhelminthes  flatworms 
Pseudocoelomate Rotifers wheeled animals
Triploblasts Nematodes round worms
Protostoma Molluscs e.g. clams, squid
Annelids  segmented worms
  Arthropods e.g. crabs, insects
Coelomate 
?
Bryozoans moss animals
Echinoderms e.g. starfish
Deuterostoma Chordates e.g. fish, mammals
Absolute horizontal distance on the above diagram does not imply relative evolutionary time since divergences.  Instead, the diagram above should only be interpreted as order (sequence) of divergence within a particular taxonomic lineage.
 

Click here to compare with a more modern (simplified) version

Some major difference shown above compared to the more modern version include:

Some other differences (not shown in the tree above) involving more minor phyla Click here to compare with the more modern full version with all animal phyla