This letter presents a realtime motion planning and control method that enables a quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk, as well as gaits with full flight phases such as jumping, pronking, and running trot. The proposed method also enables smooth transitions between these gaits. Our approach relies on an online zero-moment point based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The reference footholds for each leg are obtained by solving a separate optimization problem. The resulting optimized motion plans are tracked by a hierarchical whole-body controller. Our framework has been tested in simulation and on ANYmal, a fully torque-controllable quadrupedal robot, both in simulation and on the actual robot.