The mating season in temperate climates typically begins in autumn. To mate following courtship, the male usually leaps onto the female’s back, and clasps her thorax and wing bases with his forelegs. He then arches his abdomen to deposit and store sperm in a special chamber near the tip of the female’s abdomen. The female then lays between 10 and 400 eggs, depending on the species.

Eggs are typically deposited in a frothy mass that is produced by glands in the abdomen. This froth then hardens, creating a protective capsule. The protective capsule and the egg mass is called an ootheca. Depending on the species, the ootheca can be attached to a flat surface, wrapped around a plant or even deposited in the ground. Despite the versatility and durability of the eggs, they are often preyed on, especially by several species of parasitic wasps. In a few species, the mother guards the eggs.

As in related insect groups, mantises go through three stages of metamorphosis: egg, nymph, and adult (mantises are among the hemimetabolic insects). The nymph and adult insect are structurally quite similar, except that the nymph is smaller and has no wings or functional genitalia. The nymphs are also sometimes colored differently from the adult, and the early stages are often mimics of ants. A mantis nymph increases in size (often changing its diet as it does so) by replacing its outer body covering with a sturdy, flexible exoskeleton and molting when needed. Molting can happen from five to ten times, depending on the species. After the final molt most species have wings, though some species are wingless or brachypterous ("short-winged"), particularly in the female sex.

In tropical species, the natural lifespan of a mantis in the wild is about 10–12 months, but some species kept in captivity have been sustained for 14 months. In colder areas, females will die during the winter (as well as any surviving males).