Mammalian cartilage is a complex and developmentally important tissue type. Outside the mammalian lineage, cartilage may persist as an adult tissue, which shows a much wider diversity of histological structure. Tissues similar to vertebrate cartilage are also found within multiple invertebrate lineages, including mollusks, arthropods, and polychaetes, however the relationship of these tissues to vertebrate cartilage is unknown. Detailed molecular analysis of these invertebrate tissues is necessary to assess the degree of homology, if any, of cartilage throughout the metazoans. The purpose of the following review is to introduce readers to this diversity of cartilage and to synthesize the known genetic interactions that give rise to vertebrate cartilage into the format of a gene regulatory network (GRN). This chondrogenesis GRN highlights a large number of transcription factors known to be expressed during chondrogenesis, whose role in this process has yet to be elucidated. Verification and expansion of this initial GRN will assist in the identification of the core set of the genetic interactions necessary for the specification of the vertebrate chondrocyte. This is the necessary first step in allowing detailed comparison of the molecular signature of vertebrate chondrocytes with that of invertebrates with the ultimate goal of understanding the evolutionary origin of this important skeletal cell type.