The study of fetal development allows for evaluating the different strategies adopted by mammal species to maximize neonatal survival. Autonomous locomotion is fundamental for newborns to perform foraging activities and increases newborn survival from predation. In this study, we assess the gestational bone development of 53 collared (CP, Pecari tajacu) and 61 white-lipped (WLP, Tayassu pecari) peccaries, collected through the collaboration of subsistence hunters in the Amazon. The bone mineralization and biometry of the axial and appendicular skeleton were assessed by ultrasound examinations, and the timing of the main bone developmental events was calculated in relation to the total dorsal length (TDL) and the percentage of the total gestational period (GP). The first US signs of mineralization of the axial skeleton in CP and WLP were observed in fetuses with 3.4 cm (42 gestation days, 30% GPCP) and 5.1 cm (51 gestation days, 32% GPWLP). The early development of the appendicular skeleton was observed by the synchronic appearance of the mineralized scapula, humerus, radius, ulna, ilium, ischium, femur, tibia, and fibula at 36% GPCP (50 gestation days), and 35% GPWLP (56 gestation days). The pubis was mineralized in fetuses at 55% GPCP (75 gestation days) and 59% GPWLP (94 gestation days). The mineralization was observed in all autopod bones at 79% GPCP (109 gestation days) and 67% GPWLP (106 gestation days). All primary ossification centers in long bones of thoracic and pelvic limbs were mineralized in advanced fetuses (GPCP and GPWLP ≥75%). The mineralized patella was not observed in advanced fetuses in either species. Secondary ossification centers first appeared at the distal epiphysis of the femur in the CP (99 gestation days, 72% GPCP) and the distal epiphysis of the radius, femur, and tibia in the WLP (106 gestation days, 67% GPWLP). Advanced fetuses of CP and WLP presented 60% (15/25) and 68% (17/25) of the total secondary ossification centers observed present in the adult domestic pig, while newborns from the domestic pig presented 52% (13/25). The early intrauterine development of the skeletal system in both peccary species suggests a precocial development strategy, which likely correlates with neonatal ability to escape predators and reduces the dependence on parental care.