Understanding the embryonic development of the cardiovascular system is critical for elucidating congenital cardiovascular malformations. This chapter concisely outlines the key developmental processes of the cardiovascular system based on comparative animal models, with a focus on potential mechanisms driving structural morphogenesis and the pathogenesis of cardiovascular anomalies. During early gastrulation, undifferentiated precursor cells migrate and reorganize to differentiate into cardiac progenitors in the cardiogenic region. These cardiac progenitors subsequently form the primitive cardiac tube through coordinated migration, which further establish the four-chambered heart, conduction system, aortopulmonary septation, and vascular system through looping, septation, and fusion, etc. key processes and form a mature cardiovascular system ultimately. Disruptions in any of these tightly regulated processes may result in congenital cardiovascular malformations.