The nervous system range in complexity.

earthworm and Jellyfish

Neural Organization Nervous systems range in complexity from the jellyfish’s network of nerve cells to the central and peripheral systems of humans. Common to many animals is the nervous structure of the earthworm, which consists of a cerebral ganglion, a main nerve cord, and branching pairs of lateral nerves. In some cases, as in insects, the cerebral ganglion acts as a primitive brain, controlling and coordinating various basic functionsCorporation.
Voluntary movement of head, limbs, and body is caused by nerve impulses arising in the motor area of the cortex of the brain and carried by cranial nerves or by nerves that emerge from the spinal cord to connect with skeletal muscles. The reaction involves both excitation of nerve cells stimulating the muscles involved and inhibition of the cells that stimulate opposing muscles. A nerve impulse is an electrical change within a nerve cell or fiber; measured in millivolts, it lasts a few milliseconds and can be recorded by electrodes.
source: wiki/encarta encyclopedia