In this article, we develop a new reconstruction of the pelvic and hindlimb muscles of the large theropod dinosaur Tyrannosaurus rex. Our new reconstruction relies primarily on direct examination of both extant and fossil turtles, lepidosaurs, and archosaurs. These observations are placed into a phylogenetic context and data from extant taxa are used to constrain inferences concerning the soft‐tissue structures in T. rex. Using this extant phylogenetic bracket, we are able to offer well‐supported inferences concerning most of the hindlimb musculature in this taxon. We also refrain from making any inferences for certain muscles where the resulting optimizations are ambiguous. This reconstruction differs from several previous attempts and we evaluate these discrepancies. In addition to providing a new and more detailed understanding of the hindlimb morphology of T. rex—the largest known terrestrial biped—this reconstruction also helps to clarify the sequence of character‐state change along the line to extant birds. J. Morphol. 253:207–228, 2002. © 2002 Wiley‐Liss, Inc.