The modern and Late Pleistocene terrestrial fauna of Miyako Jima and adjacent islands (the Miyako Islands) in the southern Ryukyu Islands, southwestern Japan, includes some endemic taxa or genetically unique populations that exclusively have closest allies in the more isolated Okinawa Jima and adjacent islands (the Okinawa Islands) than in the Yaeyama Islands, which are located southwest of the Miyako Islands with much narrower intervening straits. Those taxa or populations include representatives of lineages that have physiologically highly limited ability for over-sea dispersal and the Miyako Islands are currently separated from the Okinawa Islands by at least 300 km of open water; therefore, the formation of this phylogeographical pattern is perplexing. In this study, we review the late Cenozoic geology of the Miyako Islands, southern Okinawa Jima, the Okinawa–Miyako submarine plateau (OMSP; a plateau located between Okinawa Jima and Miyako Jima), and the Kerama gap, which is a depression between the OMSP and Okinawa Jima. We then consider the origin of the modern and Late Pleistocene terrestrial animals, including a number of non-volant vertebrates on the Miyako Islands. Finally, we propose a new hypothesis (the OMSP hypothesis) to explain the enigmatic composition of modern and Late Pleistocene terrestrial vertebrate fauna of the islands. Southern Okinawa Jima was uplifted and emerged after ca. 2 Ma and was temporarily connected to the OMSP, which is likely to have emerged earlier than southern Okinawa Jima, to form a large island extending from Okinawa Jima to the Miyako Islands with a NE–SW direction of ~ 400 km. Subsequently, Okinawa Jima became separated from the OMSP when the Ryukyu Group—which is composed of Quaternary reef and associated fore-reef and shelf deposits—began to accumulate around the island at 1.7–1.4 Ma. During the interval from 2.0 to 1.7–1.4 Ma, numerous terrestrial animals, including flightless vertebrates, extended their distribution to the OMSP. Although the Miyako Islands repeatedly underwent complete submergence during deposition of the main part of the Ryukyu Group (1.25–0.4 Ma), they were uplifted and emerged to become a land area after ca. 0.4 Ma. In contrast, the OMSP subsided after ca. 0.4 Ma and was almost completely submerged after 0.27 Ma. During ca. 0.4–0.27 Ma, terrestrial animals migrated from the OMSP to the Miyako Islands.