Henicops milledgei is a species of centipede in the Henicopidae family.

It was first described in 2004 by Lauren Hollington and Gregory Edgecombe.

[1][2] The species occurs in Victoria, south-eastern Australia.

[3] The type locality is the Tarra-Bulga National Park, in the Strzelecki Ranges of South Gippsland.

[2] The centipedes are solitary terrestrial predators that inhabit plant litter and soil.