Decapod crustaceans have been the focus of neuroethological studies for decades. With few exceptions, however, their musculature remains scarcely described. We study the neuroethology of legged locomotion in the portly spider crab, Libinia emarginata (Brachyura, Majoidea), which preferentially walks forward. Majoid crabs are thought to be among the first to have adopted the crab form (carcinification) from lobster-like ancestors, making them interesting subjects for comparative and phylogenetic studies. The radial arrangement of the legs around the thorax, coupled with its unidirectional walking modality makes L. emarginata a good candidate for the presence of anterior and posterior limb specializations. Here we describe the complete muscular anatomy of all the pereopods of L. emarginata and compare our findings with other decapods described in the literature. The number of proximal muscle bundles differs between the anterior and posterior pereopods of L. emarginata. We describe an intersegmental bundle of the flexor muscle similar to the one present in distantly related, forward walking macruran species. The behavioral repertoire, amenability to experimental investigations, and phylogenetic position make spider crabs useful species for the study of the neural control of legged locomotion. To our knowledge, this is the first instance of a complete description and comparison of the musculature in all the locomotor appendages of one species.