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Although the general appearance of the Daleks has remained the same, the colours and some details of the model have evolved over time.
Major variants
Standard Dalek
Dalek Emperor
Dalek Supreme
Imperial Dalek
Imperial Dalek variants
Others
Spider Dalek
Spider Daleks were slightly larger than normal, but with eight legs. They were more manoeuvrable than standard Daleks, but more vulnerable at their joints. In the novel, the Thals believed that this design had been abandoned for centuries. Giant-sized versions, known as Striders, are ten times larger than the standard Spider Dalek. (EDA: War of the Daleks)
A faction of Daleks from a parallel universe resembled Spider Daleks, and were viewed as abominations by the Daleks of the "main" universe. (DWM: Fire and Brimstone)
Marsh Dalek
The Marsh Daleks were large, bipedal Daleks that were used to control the Horrokon Monsters on the planet Gurnian. (1964 Dalek Annual)
- These appear to be a forerunner of the Striders,
Marine Dalek
Marine Daleks, also introduced in War of the Daleks, are torpedo-shaped with their eyes at the front, and have their gunstalk and a grappling arm parallel to their bodies. They are also larger than the standard Daleks. (EDA: War of the Daleks)
Apocrypha
Scout Dalek
One source descries the Imperial Dalek faction has using scout Daleks which, are more stealthy than regular Daleks, using overpowered motors.
Behind the Scenes
The Scout Daleks appear in novelisation of Remberance of the Daleks.