The most noticeable differences between a caterpillar vs centipede include their morphology, legs, and exoskeleton. Caterpillars have round bodies with indistinct heads, small antennae, and horns in some species. On the other hand, centipedes have flat bodies, a distinct head, and prominent antennae that stick out very far from their body. Besides, caterpillars have fewer legs than centipedes. While caterpillars are herbivores, centipedes are carnivores. Caterpillars are classified as insects, (although they are the larvae form of butterflies) but centipedes are classified as anthropods. And lastly, centipedes don’t go through metamorphosis whereas centipedes do.