Centipede

Centipedes have flat, narrow bodies up to 4 inches long, with one pair of legs coming off of each segment. They can be red, orange, or brown with venomous claws beneath their head. They use these claws to poison the insects they eat. Most centipedes will try to run away instead of biting you. A millipede is NOT venomous. It eats plants and usually has 2 pairs of legs for each body segment.

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Resources:

Florida Cooperative Extension Service Pamphlets.
Foster, Steven and Caras, Roger. Peterson Field Guide to Venomous Animals and Poisonous Plants. New York: Houghton Mifflin Co., 1994.
Milne, Lorus and Margery. National Audubon Society Field Guide to North American Insects & Spiders. New York: Alfred A. Knopf, 1995.
Sanford, Dr. Malcolm T. Professor and Apiculturist, University of Florida, 1996.