To date, there are over 12,000 known living species of millipedes worldwide. None of these are documented to be poisonous to humans. A millipede also won't bite you, but the toxins of some species can cause skin symptoms when you handle them. Still, as with handling any animals, it's important to take extra care.
Can a millipede harm you?
Millipedes do not pose any danger to humans. However, when they feel threatened they can release a foul smelling fluid that can cause skin irritation and it should be washed off immediately.
What is the effect of millipede bite?
Millipede bites
Millipedes protect themselves by secreting a toxic liquid from glands on the side of their body. The liquid causes a corrosive-like effect on the skin, and people may experience burning and redness in the affected area. Doctors can prescribe topical pain relievers and antibiotics if necessary.