Yes, humans are tetrapods.

What is a tetrapod?

A tetrapod is any vertebrate that descends from an ancestor with four limbs, even if modern species have lost or modified those limbs. This group includes amphibians, reptiles, birds, and mammals.

Why humans count as tetrapods

Humans are classified as mammals, which are one of the main tetrapod groups. Even though humans walk on two legs, we still have four limbs total: two arms (forelimbs) and two legs (hindlimbs), so we are tetrapods.

Tetrapod vs. biped vs. quadruped

  • Tetrapod : Has (or had ancestrally) four limbs; this is an evolutionary/ancestry term.
  • Biped: Walks on two legs, like humans and many birds; this describes how an animal moves.
  • Quadruped: Walks on four legs, like dogs or horses; again, this is about gait, not ancestry.

So humans are tetrapod mammals that are behaviorally bipeds, not quadrupeds.

Fun evolutionary angle

Because tetrapods evolved from lobe-finned fishes, you can say humans are part of a very specialized “fish lineage” that moved onto land hundreds of millions of years ago. That is why snakes, whales, birds, and humans all still belong to Tetrapoda, despite looking and moving so differently today.

TL;DR: Humans are tetrapods because we are mammals with four limbs and we descend from a four-limbed vertebrate ancestor.

Information gathered from public forums or data available on the internet and portrayed here.