Heterocladosoma bifalcatum is a common species of millipede found in eastern Australia.

[1] This millipede has a striking colouration: the body is blackish-brown while the legs, antennae and sternites are red.

It can be distinguished from other Heterocladosoma by: the largest tibiotarsal branch apically tapering and curving widely laterad; the telopodite of the gonopods being narrow in profile; and the femoro-solenomerite being almost straight.

[2][3] Heterocladosoma bifalcatum can be found in log debris on the ground and also under the bark of trees.

The species is most active during overcast/rainy weather and in the early morning.