This research work focuses on development of a bioinspired reconfigurable quadruped robot (IITM B-Robot), capable of transforming its posture from erect to sprawl and vice versa depending on the terrain. This capability ensures the robot to move with maximum speed and greater stability at all-terrain conditions. In this research work, two identical robot designs are proposed; one with 3-DoF legs and another one having 4-DoF legs. During the initial study, both the robots have been modelled and a comparative study has been done between them by calculating the torque requirement of each leg joint by multibody dynamic simulation. The trajectory planning equations have been arrived such that the robot foot touchdown with minimum impact force. Optimal design to withstand the impact force during touchdown has been done using dynamic analysis. Through the finite element analysis, refinement of part dimensions (link size) has been carried out. Further, the simulation results show that robot with 3-DoF legs perform better than the robot with 4-DoF legs in terms of reduced weight, less energy consumption, less mechanical complexity while achieving the required motion. Hence, the Robot with 3-DoF legs is further refined by changing the lower link’s: position, weight reduction and modification of its shape. The refined robot with 3-DoF legs has been analysed for its singularity conditions using Jacobian analysis. Mathematical model has been obtained by following Lagrange-Euler formulation by considering single leg as articulated arm with remotely driven link for further development of robot motion control. The newly designed quadruped robot with 3-DoF legs performs better compared with the similar type of robots.