The Twelfth Doctor described the Lothan as "giant centipedes". (TV: For Tonight We Might Die [+]Patrick Ness, Class television stories series 1 (BBC Three, 2016).)
Nardole described the Qol as "alien centipedes". (PROSE: Pain Management [+]Error: Code 2 - no data stored in variables, cache or SMW.)
The Tenth Doctor described the Terpsivores as "60-foot long centipedes". (COMIC: Death Disco [+]Alan Barnes, Doctor Who The Official Annual 2009 (Doctor Who annual, Penguin Books, 2008).)
Jason described the "Wet Puppy" aliens as having lots of legs like a centipede. (PROSE: Cuckoo-Spit [+]Mark Gatiss, Doctor Who Storybook 2007 (Doctor Who Storybook, 2006).)
Queegvogel was a centipede-like alien. (PROSE: Burning Heart [+]Dave Stone, Virgin Missing Adventures (Virgin Books, 1997).)
Lucie Miller described the Trell as ten-foot centipedes. (AUDIO: Sisters of the Flame [+]Nicholas Briggs, Eighth Doctor Adventures (Big Finish Productions, 2008).)