Godot - Free and open source 2D and 3D game engine

Godot has a full 2d animation system inside of it (skeletons and all, it’s surprisingly powerful).

Here are some of its docs:

General Sprite keyframe animations:

General 2D animation:

2D sprite animations:

Advanced and powerful 2D skeletal animations (including some software suggestions on helping to make them, but it can be done all within Godot as well):

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