Centipedes have one pair of legs per body segment; millipedes usually have two pairs of legs per body segment.
Centipedes have longer antennae and 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
Henia vesuviana Centipede Centipede Henia vesuviana
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
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Non-UK Centipedes and Millipedes
Chinese Red-headed Centipede Chinese Red-headed Cp.
Giant African Millipede Giant African Millipede
African Banded Millipede, Isulus spp. Afr. Banded Millipede Isulus spp.
Mombassan Train Millipede Mombassan Train Mp.
Tanzanian Red-legged Millipede Tanzanian Red-legged Mp.
(Ghana) Long-legged/Speckled-leg Millipede (Ghana) Long-legged/Speckled-leg
Seychelles Giant Millipede Seychelles Giant Mp.
Chocolate Millipede Chocolate Millipede
Tanzan. Olive-banded Millipede Tanzan. Olive-banded Millipede
Red-legged Millipede Peru red-legged millipede, Peru
Tractor Millipede Tractor Millipede
Long-flanged Millipede Long-flanged Millipede
Long-flanged Millipede Long-flanged Millipede
Dolichoiulus canariensis Millipede Dolichoiulus canariensis Mp.
Dolichoiulus canariensis Millipede Dolichoiulus canariensis Mp.
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Photos taken by Elizabeth Barrett unless stated otherwise on page
Caterpillars Caterpillars/Larvae
Woodlice Woodlice