Content Updated: November 24, 2025

Key takeaways

  • Centipedes can have anywhere from 10 to 300 legs, while most millipede species have around 300.
  • The movement of centipedes and millipedes is highly adaptable, helping them hunt prey, escape predators, and traverse obstacles with ease.
  • Centipedes and millipedes play a crucial role in their ecosystems as both predators and prey.

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Centipedes (Scutigera coleoptrata) are fast-moving predators of insects and spiders, while millipedes (Subphylum Myriapoda) are slow-moving and primarily feed on decayed vegetation. Both are characterized by their cylindrical bodies and numerous legs. While they may be beneficial in some cases, most people don't want centipedes and millipedes in their home.

How many legs do centipedes have?

So, how many legs do centipedes have? Though their name literally means "one hundred legs," centipedes can have anywhere from 10 to roughly 300 legs. Oddly enough, you’ll never find one with exactly 100 legs because they only have an odd number of pairs. And instead of being born with all of their legs, some species grow more legs each time they molt. Some species, like the giant centipede, have around 300 legs, while house centipedes may have as few as 10 legs.

Centipede on a rock

How many legs do millipedes have?

As for how many legs millipedes have, these pests have two pairs of legs on most body segments. The millipede Illacme plenipes (found in California) has the most legs of any animal on Earth (750 legs). However, most millipede species have about 300 legs.

Millipede

How do centipedes and millipedes coordinate their leg movements?

Centipedes and millipedes coordinate their leg movements in distinct ways, often referred to as metachronal gait. This involves an alternating pattern where legs on one side move in a sequence that mirrors the opposite side's movement. Centipede movement is characterized by a wave-like action that helps maintain speed and agility. As one leg lifts off the ground, the next leg in line begins to move, creating a continuous flowing motion that allows centipedes to navigate various terrains rapidly and efficiently. In contrast, millipedes have a different strategy. They generally move more slowly and utilize simultaneous leg phases, where adjacent pairs of legs move in concert, contributing to their distinct locomotion style.

Why do house centipedes run towards you?

Centipedes and millipedes can crawl up surfaces thanks to their numerous legs, allowing them to navigate walls and ceilings with ease in search of food or shelter. House centipedes may even run towards you as a defensive behavior. While they might seem alarming, house centipedes and millipedes are typically not dangerous to humans. However, centipedes are venomous and can bite if provoked, but their bites are typically not harmful, causing only mild irritation. As for millipedes, they do not sting or bite but can emit chemical substances from their bodies as a defensive mechanism against potential predators that may irritate skin or eyes.

If centipedes and millipedes have invaded your home, Terminix can help. Whether you’re looking for prevention tips or expert centipede and millipede control, we have you covered.