Tail movement is an important component of vertebrate locomotion, and likely contributes to dynamic stability during steady-state locomotion. Many studies have investigated specific aspects of tail biomechanics in lizards, but a comprehensive study of tail motion during locomotion in lizards of different masses, body shapes, and habitats has not been conducted. Multiple studies in lizards found decreased sprint speed and stability after tail loss. These decreases depended on species but not habitat and were more substantial in lizards with larger tails. Other studies highlighted the role of the tail for transitioning into bipedal locomotion or for active pitch-control during jumping. These results suggest that the tail plays a significant role in lizard locomotion, but little data are available on tail motion during locomotion and how it differs with morphological, ecological, and phylogenetic parameters. We collected high-speed vertical climbing and horizontal locomotion video data from 52 lizard species from 4 taxonomic groups (Agamidae, Gekkota, Scincidae, Varanidae) and 4 habitats. Tail motion was quantified using markerless pose-estimation, deep learning for outline/shape detection and automated visualisation. In geckos, the tail base and mid tail viewed dorsally moved sinusoidally in opposite phase, and the tail tip reached peak lateral displacement when the tail base and mid tail were aligned along the body axis. These results will provide general insights into the biomechanics of tails in sprawling locomotion enabling biomimetic applications in robotics, and a better understanding of vertebrate form and function.