Neuronal networks in our brain and body are fundamental for sensation, behavior, and all other functions based on neuronal activity. To construct precisely wired networks, the development of neurons is tightly controlled. During development, neurons must alter their shape so as to be able to migrate toward the destination from their origin and to make contact, called a synapse, with a defined target a certain distance away from them. Like the skeleton in our body, neurons have a cytoskeleton to maintain their shape. The cytoskeleton not only supports this shape, but also helps regulate the motility of neurons; and in this regard, the cytoskeleton is comparable to muscle. Therefore, orchestrating the reorganization of the cytoskeleton is of great importance in allowing extensive changes in neuronal morphology during development. In this review, we highlight the crucial roles of the cytoskeleton and associated proteins in each phase of neuronal development, including neurogenesis, neuronal migration, neurite genesis and growth, and synapse formation.