- Centipedes (from the New Latin prefix “centi” (hundred), and the Latin word “pes” or “pedis” (foot). Centipedes (which includes Millipedes and other multi-legged creatures) are elongated metameric creatures with one pair of legs per body segment. Most centipedes are generally venomous and could inflict a painful bite, injecting their venom through pincer-like appendage known as forcipules. Despite the name, centipedes can have a varying number of legs, ranging from 30 to 354. Centipedes always have an odd number of pairs of legs. Therefore, no centipede has exactly 100 legs. Similar to spiders and scorpions, centipedes are predominantly carnivorous.