The legume family is the third largest group, including approximately 650 genera and 18,000 species, in the flowering plants and the second important crops to the Poaceae in the agricultural economy. Comparative analysis is a useful tool to understand cross-species genomic structure and alterations during organism’s evolutionary history. In this study, we constructed a composite comparative map of ten legume species, including Medicago truncatula, Medicago sativa, Lens culinaris, Pisum sativum, Lotus japonicus, Cicer arietinum, Vicia faba L, Vigna radiata, Phaseolus vulgaris and Glycine max. Of these species, M. truncatula, which is a representative model system, played a central role to develop the cross-genome amplifiable PCR gene markers for the purpose of transferring them to other related legume species. A total of 140 cross-species core markers were employed to analyze genomic colinearity across this broad array of legume species. The comparative map demonstrates a diverse array of evolutionary events, such as duplications, inversions and reciprocal translocations. It is anticipated that resulting maps would provide a broader insights into the lineage-specific genomic organization of these glalegoid/phaseoloid legumes, which are two clades containing almost all crop legumes of economic importance, and can further used for the molecular breeding through translating genomic information into other orphan legumes.