Naraoia was named by Walcott (1912) [Sepkoski's age data: Cm Atda-u Cm uMid-m Sepkoski's reference number: 580,809]. It is not extant. It is the type genus of Naraoiidae. It was considered paraphyletic by Lerosey-Aubril et al. (2017).

It was assigned to Nektaspida by Jell and Adrain (2002); to Naraoiida by Sepkoski (2002); to Arthropoda by Bambach et al. (2007); to Nektaspidida by Lerosey-Aubril et al. (2017); and to Naraoiidae by Walcott (1912), Conway Morris and Robison (1988), Mayers et al. (2019) and Lerosey-Aubril et al. (2020).