Among insects, tympanal ears evolved at least 18 times, resulting in a diversity of auditory systems. Insects use their ears in different behavioural contexts, mainly intraspecific communication for mate attraction, predator avoidance, and parasitic host localisation. Analysing the evolution of insect ears aims at revealing the phyletic origins of auditory organs, the selection pressures leading to the evolution of ears, the physiological and behavioural adaptations of hearing, and the diversification of ears in specific groups or lineages. The origin of sensory organs from preadapted proprioceptive or vibroceptive organs has now been established for different ear types. In this review, we embed research on insect hearing in a phylogenetic framework to reconstruct the ancestral sensory situation in different taxa, and the series of morphological changes during the evolution of an ear. The importance of sensory and neuroanatomical data is discussed for either mapping onto a phylogeny or as characters for phylogenetic analysis.