Centipedes have one pair of legs per body segment; millipedes usually have two pairs of legs per body segment.
Centipedes have longer antennae run on many legs; millipedes are rounder, with short antennae and glide on brushes.
Millipedes are mainly vegetarian; centipedes prey on insects, arachnids and worms.
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UK Centipedes and Millipedes

House Centipede House Centipede Scutigera coleoptrata
Long-horned Soil Centipede Geophilus flavus Long-horned Soil Cp. Geophilus flavus
Soil Centipede Geophilus carpophagus Earth Centipede Geophilus carpophagus
Brown or Common Centipede Lithobius forficatus Brown or Common Cp. Lithobius forficatus
Strigamia acuminata? Strigamia acuminata
Ants with dead centipede Ants with Centipede
White-legged Snake Millipede Tachypodiulus niger White-legged Snake Millipede Tachypodiulus niger
Non-UK Centipedes and Millipedes
Chinese Red-headed Centipede Chinese Red-headed Cp.
Giant African Millipede Giant African Millipede
Giant Train Millipede Giant Train Millipede
Mombassan Train Millipede Mombassan Train Mp.
Tanzanian Red-legged Millipede Tanzanian Red-legged Mp.
Seychelles Giant Millipede Seychelles Giant Mp.
Chocolate Millipede Chocolate Millipede
Dolichoiulus canariensis Millipede Dolichoiulus canariensis Mp.
Dolichoiulus canariensis Millipede Dolichoiulus canariensis Mp.
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Woodlice - temporary location
Common Rough Woodlouse Common Rough Woodlouse
Common Rough Woodlouse pink variation Common Rough Woodlouse
Common Shiny Woodlouse Common Shiny Woodlouse
Common Striped Woodlouse Common Striped Woodlouse
Common Pill Woodlouse Common Pill Woodlouse
Woodlouse Pill Woodlouse Armadillidium nasatum
Rosy Woodlouse Rosy Woodlouse
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