The species Paroedura maingoka was described in 2000, with the holotype (UMMZ 211210) being an adult male found on 10 December 1995 in Tsimanampetsotsa National Park.

The specific name is a Malagasy word meaning "scorpion", referencing the lizard's defensive posture in which the tail is curved over the back.

[2] This gecko is one of many species endemic to the island of Madagascar, and is recorded from several areas in the extreme southwest of the country.

This species is found on rock outcrops in dry forests with xeric vegetation, dominated by baobabs and similar trees.

[1] Because this species is readily observable and prone to habitat degradation, it may serve as an indicator of suitable locations for reptile conservation.

[2] The upper side is primarily tannish brown, with a distinct white stripe running down the spine interrupted by dark crosslines.

When threatened, the lizard will curl its tail forwards over its back, taking a posture resembling that of a scorpion.

[5] In P. maingoka, it has also been proposed that in association with its banded coloring, this posture attracts the attention of predators towards the tail.