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Body
Millipedes, as the name suggests, have more legs then centipedes. They have two pairs of appendages, which mean they have four legs. Their legs are somewhat harder to see then of centipedes. Millipedes are not as flexible as centipedes. Centipedes only have two legs, one pair of appendages, in which are easily seen on both sides of the arthropods. Centipedes are far quicker in movement than millipedes.
Diet
A millipedes' diet consist of rotten fruit and vegetables or decaying leaves. Millipedes also damage plant leaves. Their diet must also include calcium. Centipedes, however, are carnivores and feeds on insects. They capture the insect with their claws and kill it by injecting their venom.
Habitat
Millipedes live in dark damp or moist environments, whereas you can find centipedes in various areas, such as under rocks or among leaves. You may even find them burrowed in the dirt. Some species would rather hide in small tight places, since they are nocturnal.
Defense
Millipedes and centipedes have distinct differences when it comes to their defense mechanisms. Millipedes cannot physically inflict pain on a prey or human like a centipede can. Instead, millipedes will either curl up in a defense move in hopes of the prey backing off. They have a smelly substance in which they can squirt a few feet. This substance will cause irritation to sensitive skin. Centipedes are predators that attack using their claws, to protect them self. They bite their prey and leave a painful poison. You can find the claw located under the head. Once they grab the prey, they then release the poison to kill it. If bitten by a centipede the poison can cause swelling or irritation.
Reproduction
Centipedes usually mate in the winter, and in the summer, they will lay eggs. A sticky substance the centipede leaves behind protects the eggs. Millipedes lay their eggs in soil with bitten or rotten leaves. The male or female millipede will watch over the eggs until they hatched.