Content Updated: January 8, 2026
Centipedes and millipedes are often confused due to their many legs and long, segmented bodies. However, when it comes to whether they’re poisonous or dangerous, there are many differences between them. In this guide, we’ll break down what makes centipedes and millipedes unique, explain which species are venomous (and which aren’t), and clarify common misconceptions.
Although centipedes and millipedes may look similar at first glance, several key features make it easy to tell them apart:
House centipede
House millipede
Now, you’re probably wondering, “Are centipedes poisonous?” Centipedes are venomous, not poisonous. This means they inject venom through their modified front legs, called forcipules, to immobilize their prey.
Are centipedes poisonous to humans? While their venom is effective on insects and small animals, it’s not considered dangerous to humans. They generally avoid people and only pinch when threatened or handled.
A centipede bite (more accurately, a pinch from their venomous legs) can cause:
In most cases, symptoms are mild and temporary, similar to a bee sting. Severe reactions are rare and typically occur only in people with allergies or sensitivity to insect venom. Most centipede bites can be treated at home using standard first aid. If symptoms worsen or persist, contact a healthcare provider.
Coming across a centipede can be unsettling, but here are a few tips to handle the situation effectively:
Homeowners may encounter various species of centipedes, depending on their location. While all centipedes have venom, the level of risk they pose varies. Here are a few of the most common types:
Appearance: Long legs, tan-and-gray banded body, very fast.
Where they’re found: Bathrooms, basements, closets, and other humid indoor spaces.
Are they venomous? Yes, but their venom is not dangerous to humans. Their pinch is generally mild.
Appearance: Long and slender with flattened bodies and many narrow legs, usually ranging from pale yellow to reddish-brown.
Where they're found: They typically live outdoors under stones, logs, leaf litter, and other damp, sheltered debris where they hunt for small insects.
Are they venomous? Stone centipedes are venomous, but their venom is mild and generally not harmful to humans.
Appearance: Yellow-orange body with darker bands. 4–7 inches long.
Where they’re found: Southwestern states, deserts, dry rocky areas.
Are they venomous?Yes. They can deliver a more painful bite than smaller species, but serious reactions are rare.
Appearance: Large (up to 8 inches), orange or red with a black head and tail.
Where they’re found: Southern U.S., especially desert environments.
Are they venomous? Yes, and their bite can be very painful, but it is not typically medically dangerous. They do not transmit diseases.
Are millipedes poisonous? Millipedes are not poisonous or venomous. Unlike centipedes, they do not have venom glands and cannot bite or sting. Instead of attacking, millipedes rely on a unique defense mechanism: releasing a defensive fluid that contains irritating chemicals. While this fluid is not dangerous, it can cause mild skin irritation, discoloration, or an allergic reaction in sensitive individuals. Washing your hands after handling or touching a millipede is recommended.
Centipedes and millipedes often end up indoors for the same reasons: moisture, shelter, and easy access through small gaps. The following millipede and centipede prevention tips can help keep these pests out of your home.
If centipedes or millipedes continue to appear in your home, there may be underlying issues. Terminix centipede and millipede control services can help by identifying what’s attracting them, applying targeted treatments, and putting prevention measures in place to reduce the chance of future invasions.
