Acid-sensing ion channels (ASICs) are membrane proteins that endow vertebrate neurons with fast excitatory responses to decreases in extracellular pH. Although previous studies suggest that ASICs are found in certain invertebrates, the lineage in which ASICs emerged and the functional role of ASICs beyond the vertebrates is unknown. We reconstructed ASIC evolution by surveying metazoan ASICs and performing a phylogenetic analysis, which suggests that ASICs evolved in an early bilaterian. This was supported by electrophysiological measurements of proton-gated currents at heterologous channels from diverse bilaterians. This also revealed substantial variation in biophysical properties of broadly related ASICs, with selective sodium/potassium ion permeability ranging from 3- to 36-fold and half-maximal activating pH from 4.2 to 8.1. Furthermore, we studied the expression of ASICs in species outside the vertebrates and found expression in the central nervous system of certain bilaterian lineages but in the periphery, including nervous system, digestive system, and motile ciliated epithelia, of most lineages. The loss of such epithelial cells in Ecdysozoa might explain the loss of ASICs from this major animal lineage. Our results suggest that ASICs emerged in an early bilaterian, and expression in the central nervous system was accompanied or even pre-dated by expression in the periphery.