Haptodus baylei, the type species of Haptodus, is known only from a single, badly preserved specimen hosted in the Muséum National d'Histoire Naturelle of Paris. It was collected at Les Télots, near Autun of France, from a terrestrial horizon dating to the Asselianstage of the Cisuralianseries, about 299-296.4 million years old. The taxonomy of many pelycosaurs was revised in details by Alfred Sherwood Romer & Llewellyn Price. They synonymized many genera, including Callibrachion, Datheosaurus, Palaeohatteria and Pantelosaurus, with Haptodus, but retained these taxa as distinct species. After describing H. garnettensis in 1977, Currie synonymized all European haptodontines, as well as Cutleria wilmarthi, with the type of the genus, H. baylei. Later, Laurin considered Haptodontinae to represent a polyphyletic grade of basal sphenacodonts, and revalidated Cutleria, Palaeohatteria and Pantelosaurus, while Callibrachion was considered to be a nomen dubium and Datheosaurus was not examined. Laurin also suggested that the type species of the genus H. baylei might be a nomen dubium. His revision has been accepted by subsequent authors.
Other species
Haptodus garnettensis was named based on the holotypeRM 14156, a partially articulatedskeleton of an immature individual. More than 16 well-preserved specimen of various ontogenetic stages were referred to this species. All specimens came from the Garnett Quarry, located in the Anderson County of Kansas. They were collected from the Rock Lake Member of the Stanton Formation, dating to the late Kasimovian stage of the late Pennsylvanian series, about 305-303.9 million years old. Another species, Haptodus grandis, was named from a maxilla found in Pennsylvanian to Cisuralian deposits in Kenilworth, England by Roberta Paton in 1974. In his 2015 dissertation revising the basal Sphenacodontia, Frederik Spindler demonstrated that H. garnettensis and H. grandis do not belong in the same genus as H. baylei and instead represent distinct genera. Spindler referred "H." grandis to a new genus Hypselohaptodus in 2019. He also showed that some specimens referred to "H." garnettensis belong to different taxa; one of these, ROM 43608, was named by Spindler in 2020 as a new genus and species, Kenomagnathus.