Summary: Technically, we are apes. Colloquially, we didn't evolve from modern apes: we shared a recent common ancestor with them.
From Comparative genomics of higher primates (Max Planck Society):
The common chimpanzee and the bonobo or pygmy chimpanzee are our
closest living relatives, with whom we share a common ancestor that
lived 5–7 million years ago.
Humans and chimpanzees share a common
ancestor with gorillas — the other major species of African apes —
that lived 6–8 million years ago, whereas the common ancestor shared
with the Asian orangutans lived 12–16 million years ago.
Many species that were more closely-related to humans have lived and
become extinct since the time of the chimpanzee- human ancestor.
are collectively called hominins.
One hominin is the Neandertal, whose
lineage diverged from ours 300,000–500,000 years ago. Neandertals
lived in western Eurasia, sometimes alongside our ancestors, until
they became extinct around 30,000 years ago.