Centipede and Millipede Bites By Robert A Barish, MD, MBA, University of Illinois at Chicago; Thomas Arnold, MD, Department of Emergency Medicine, LSU Health Sciences Center Shreveport Reviewed / Revised Jan 2022 | Modified Sep 2022 View Patient Education Topic Resources Centipede Millipede Although both centipedes and millipedes have segmented bodies, millipedes have two sets of legs per segment directly under their body, whereas centipedes have only one set of legs per segment positioned on the side of their body.