The Efraasia herbivore dinosaur was first discovered in Baden-Wurttemberg, Germany by Eberhard Fraas.

Efraasia's Fossils have been identified incorrectly, at least, four times in total. Originally these Efraasia fossils were named under the Rauisuchian family as a Teratosaurus(not a Efraasia), named by Friedrich Von Huene in 1908. Rauisuchians were reptile predators in the late triassic Period. On a closer look at the Rauisuchians and the Teratosaurus by a Eberhard Fraas, he found that the fossils more closely resembled a Thecodontosaurus. In 1932 it was mentioned to be a Paleosaurus..

In 2002, even through it was believed that portions of the fossils were a juvenile Sellosaurus, it was identified as a new species (Efraasia).