Hydrophilic interaction liquid chromatography (HILIC) connected with electrospray high‐resolution tandem mass spectrometry (MS) was used for the analysis of unusual amino acid (AA) substituted phosphatidylglycerols (PG) and cardiolipins (CL) in mesophilic and thermophilic bacteria. Individual peaks from the lipid class separation by HILIC were isolated and hydrolyzed to determine the absolute configuration of the aminoacyl side chain. The configuration of the aminoacyl side chain was assigned by indirect liquid chromatography (LC) enantiomer separation after the hydrolysis of the aminoacylated (aminoacyl) lipids using N‐(4‐nitrophenoxycarbonyl)‐l‐phenylalanine 2‐methoxyethyl ester as chiral derivatizing agent and reversed phase LC–MS for analysis. When two chromatographic methods were combined, less common AAs, such as d‐allo‐Ile and d‐allo‐Thr, were identified. The taxonomic classification of bacteria showed that bacteria of the family Bacillaceae (Bacillus and Geobacillus) produce branched‐chain AAs, that is, d‐allo‐Ile, d‐Ile, and d‐Leu. These AAs were present only in the genera Bacillus and Geobacillus and not in Alicyclobacillus acidoterrestris (family Alicyclobacillaceae). On the contrary, hydroxy AAs, that is, l‐ and d‐Thr, and l‐ and d‐allo‐Thr, were identified as aminoacyl‐PG and aminoacyl‐CL in A. acidoterrestris and were not present in the genera Bacillus and Geobacillus. Therefore, the complete analysis made it possible to identify the stereochemistry of AAs in aminoacyl PGs and CLs and use this fact for chemotaxonomy.