The Middle Triassic (Anisian) rauisuchian archosaurs Ticinosuchus ferox and Stagonosuchus nyassicus are two of the earliest representatives of this group and therefore of special importance for our understanding of the evolution and early diversification of Rauisuchia. Both taxa are well preserved and, in the case of the holotype of Ticinosuchus ferox, nearly complete and articulated. However, the original descriptions and recent revisions of the material do not sufficiently cover all aspects of their osteology. We identify new skull elements previously unknown for Ticinosuchus ferox and present new reconstructions of the pectoral and pelvic girdle elements. Vertebral laminae and fossae are described for the first time in both Ticinosuchus ferox and Stagonosuchus nyassicus. Newly recognised character states of Stagonosuchus nyassicus include the presence of additional infraprezygapophyseal and infrapostzygapophyseal laminae in the cervical vertebrae, a hyposphene-hypantrum articulation in the dorsal vertebrae and a fibula with a posteromedial depression. Furthermore, we provide a revised and emended diagnosis for both taxa, including several autapomorphies for Stagonosuchus nyassicus (e.g. a boss-like protuberance on the postacetabular process of the iliac blade and a marked short dorsolateral crest on the proximal ischium). We review the taxonomic status of a further specimen of Ticinosuchus ferox, as well as material related to Stagonosuchus nyassicus from the Manda Beds of Tanzania. Additionally, we discuss the distribution and possible function of rauisuchian characters, such as accessory neural spines in the caudal vertebrae, in these and other rauisuchian taxa.