Members of which phylum have jointed legs?

In the term Arthropoda, 'arthro' means jointed whereas 'poda' means legs.

Arthropoda is a phylum of invertebrates that have a characteristic chitinous exoskeleton and a segmented body with lateral jointed appendages. These appendages are modified for specific functions like sensory, feeding, walking, or flying. 

The phylum Arthropoda includes insects, spiders, crabs, shrimp, butterflies, millipedes, centipedes, scorpions, etc.