They say ants taste like chicken. My sister ate one when she was 8 years old, and she can testify that this is indeed true.
Off the record, there are very few inedible animals. Those that are are mainly too hard/bony/lacking enough flesh or else poisonous.
I was on a trail hike in Central America when the guide pointed out a termite nest. He said these were an emergency source of protein and they taste like raw carrots.
Luckily I had been drinking so I tried some. Not bad, and they did taste like carrots. I chewed them up good because I didn’t want them crawling around my throat.