| Abacionidae Shelley, 1979 | | 56 | Species | Taxom |
| Adiaphorostreptidae Hoffman, 1977 | | 1 | Species | Taxom |
| Adritylidae Shear, 1971 | | 3 | Species | Taxom |
| Allopocockiidae Keeton, 1960 | | 10 | Species | Taxom |
| Ammodesmidae Cook, 1896 | | 6 | Species | Taxom |
| Amynilyspedidae Hoffman, 1969 | | 5 | Species | Taxom |
| Andrognathidae Cope, 1869 | | 47 | Species | Taxom |
| Anthogonidae Ribaut, 1913 | | 35 | Species | Taxom |
| Anthracojulidae Hoffman, 1969 | | 1 | Species | Taxom |
| Anthroleucosomatidae Verhoeff, 1899 | | 124 | Species | Taxom |
| Aphelidesmidae Brölemann, 1916 | | 149 | Species | Taxom |
| Aprosphylosomatidae Hoffman, 1961 | | 2 | Species | Taxom |
| Apterouridae Loomis, 1966 | | 2 | Species | Taxom |
| Archidesmidae Scudder, 1885 | | 1 | Species | Taxom |
| Arthropleuridae Zittel, 1848 | | 10 | Species | Taxom |
| Atopetholidae Chamberlin, 1918 | | 77 | Species | Taxom |
| Attemsiidae Verhoeff, 1899 | | 40 | Species | Taxom |
| Blaniulidae C. L. Koch, 1847 | Blaniulid Millipedes | 96 | Species | Taxom |
| Brachychaeteumatidae Verhoeff, 1911 | | 19 | Species | Taxom |
| Branneriidae Cook, 1896 | | 2 | Species | Taxom |
| Callipodidae Bollman, 1893 | | 41 | Species | Taxom |
| Cambalidae Bollman, 1893 | | 86 | Species | Taxom |
| Cambalopsidae Cook, 1895 | | 88 | Species | Taxom |
| Campodesmidae Cook, 1896 | | 9 | Species | Taxom |
| Caseyidae Verhoeff, 1909 | | 52 | Species | Taxom |
| Caspiopetalidae Lohmander, 1931 | | 8 | Species | Taxom |
| Chamaesomatidae Verhoeff, 1913 | | 21 | Species | Taxom |
| Chelodesmidae Cook, 1895 | | 423 | Species | Taxom |
| Chelojulidae Enghoff, 1991 | | 1 | Species | Taxom |
| Choctellidae Chamberlin &..., 1950 | | 3 | Species | Taxom |
| Chordeumatidae C. L. Koch, 1847 | | 47 | Species | Taxom |
| Cleidogonidae Cook, 1896 | | 178 | Species | Taxom |
| Conotylidae Cook, 1896 | | 70 | Species | Taxom |
| Cowiedesmidae Wilson & And..., 2004 | | 1 | Species | Taxom |
| Craspedosomatidae Gray, 1843 | Craspedosomatid Millipedes | 372 | Species | Taxom |
| Cryptodesmidae Karsch, 1880 | | 81 | Species | Taxom |
| Cyrtodesmidae Cook, 1896 | | 31 | Species | Taxom |
| Dalodesmidae Cook, 1896 | | 273 | Species | Taxom |
| Diplomaragnidae Attems, 1907 | | 84 | Species | Taxom |
| Doderiidae Silvestri, 1904 | | 22 | Species | Taxom |
| Doratodesmidae (Cook, 1895) | | 3 | Species | Taxom |
| Dorsoporidae Loomis, 1958 | | 1 | Species | Taxom |
| Dorypetalidae Verhoeff, 1900 | | 10 | Species | Taxom |
| Entomobielziidae Verhoeff, 1899 | | 18 | Species | Taxom |
| Eoarthropleuridae Størmer, 1976 | | 1 | Species | Taxom |
| Eudigonidae Verhoeff, 1914 | | 1 | Species | Taxom |
| Euphoberiidae Scudder, 1882 | | 27 | Species | Taxom |
| Eurymerodesmidae Causey, 1951 | | 36 | Species | Taxom |
| Euryuridae Pocock, 1909 | | 30 | Species | Taxom |
| Faginidae Attems, 1926 | | 1 | Species | Taxom |
| Floridobolidae Keeton, 1959 | | 3 | Species | Taxom |
| Fuhrmannodesmidae Brölemann, 1916 | | 157 | Species | Taxom |
| Galliobatidae Brolemann, 1921 | | 1 | Species | Taxom |
| Gaspestriidae Wilson, 2006 | | 2 | Species | Taxom |
| Ghilaroviidae Gulicka, 1972 | | 3 | Species | Taxom |
| Glomeridae Leach, 1815 | Pill millipedes | 324 | Species | Taxom |
| Glomeridellidae Cook, 1896 | | 24 | Species | Taxom |
| Glomeridesmidae Latzel, 1884 | | 37 | Species | Taxom |
| Glyphiulidae Chamberlin, 1922 | | 40 | Species | Taxom |
| Golovatchiidae Shear, 1992 | | 1 | Species | Taxom |
| Gomphodesmidae Cook, 1896 | | 146 | Species | Taxom |
| Guizhousomatidae Mauriès, 2005 | | 1 | Species | Taxom |
| Haaseidae Attems, 1899 | | 44 | Species | Taxom |
| Haplobainosomatidae Verhoeff, 1909 | | 16 | Species | Taxom |
| Haplodesmidae Cook, 1895 | | 97 | Species | Taxom |
| Harpagophoridae Attems, 1909 | | 307 | Species | Taxom |
| Heterochordeumatidae Pocock, 1894 | | 2 | Species | Taxom |
| Heterolatzeliidae Verhoeff, 1899 | | 6 | Species | Taxom |
| Hexecontasomatidae Hannibal, 2000 | | 1 | Species | Taxom |
| Hirudisomatidae Silvestri, 1896 | | 28 | Species | Taxom |
| Holistophallidae Silvestri, 1909 | | 11 | Species | Taxom |
| Hypogexenidae Schubart, 1947 | | 1 | Species | Taxom |
| Iulomorphidae Verhoeff, 1924 | | 116 | Species | Taxom |
| Julidae Leach, 1814 | Juliform Millipedes | 1411 | Species | Taxom |
| Kashmireumatidae Mauriès, 1982 | | 7 | Species | Taxom |
| Kirkayakidae Özdikmen, 2008 | | 4 | Species | Taxom |
| Lankasomatidae Mauriès, 1978 | | 27 | Species | Taxom |
| Lophoproctidae Silvestri, 1897 | | 37 | Species | Taxom |
| Lusitaniosomatidae Schubart, 1953 | | 1 | Species | Taxom |
| Macrochaeteumatidae Verhoeff, 1914 | | 1 | Species | Taxom |
| Macrosternodesmidae Brölemann, 1916 | | 23 | Species | Taxom |
| Mastigophorophyllidae Verhoeff, 1899 | | 76 | Species | Taxom |
| Megalotylidae Golovatch, 1978 | | 2 | Species | Taxom |
| Messicobolidae Loomis, 1968 | | 33 | Species | Taxom |
| Metopidiotrichidae Attems, 1907 | | 68 | Species | Taxom |
| Microdecemplicidae Wilson & Shear, 2000 | | 0 | Species | Taxom |
| Microlympiidae Shear & Leonard, 2003 | | 1 | Species | Taxom |
| Mongoliulidae Pocock, 1903 | | 20 | Species | Taxom |
| Nearctodesmidae Chamberlin &..., 1950 | | 21 | Species | Taxom |
| Nemasomatidae Bollman, 1893 | | 28 | Species | Taxom |
| Nematozoniidae Verhoeff, 1939 | | 1 | Species | Taxom |
| Neoatractosomatidae Verhoeff, 1901 | | 42 | Species | Taxom |
| Niponiosomatidae Verhoeff, 1941 | | 3 | Species | Taxom |
| Nyraniidae Hoffman, 1969 | | 2 | Species | Taxom |
| Odontopygidae Attems, 1909 | | 375 | Species | Taxom |
| Okeanobatidae Verhoeff, 1942 | | 3 | Species | Taxom |
| Oniscodesmidae DeSaussure, 1860 | | 20 | Species | Taxom |
| Opisotretidae Hoffman, 1980 | | 9 | Species | Taxom |
| Opisthocheiridae Ribaut, 1913 | | 41 | Species | Taxom |
| Origmatogonidae Verhoeff, 1914 | | 12 | Species | Taxom |
| Oxydesmidae Cook, 1895 | | 186 | Species | Taxom |
| Pachybolidae Cook, 1897 | | 372 | Species | Taxom |
| Paeromopodidae Cook, 1895 | | 22 | Species | Taxom |
| Palaeosomatidae Hannibal & K..., 2005 | | 2 | Species | Taxom |
| Paracortinidae Wang & Zhang, 1993 | | 17 | Species | Taxom |
| Paradoxosomatidae Daday, 1889 | | 1137 | Species | Taxom |
| Parajulidae Bollman, 1893 | Parajulid Millipedes | 192 | Species | Taxom |
| Pericambalidae Silvestri, 1909 | | 3 | Species | Taxom |
| Peterjohnsiidae Mauriès, 1987 | | 4 | Species | Taxom |
| Physiostreptidae Silvestri, 1903 | | 1 | Species | Taxom |
| Plagiascetidae Hoffman, 1969 | | 1 | Species | Taxom |
| Platydesmidae DeSaussure, 1860 | | 36 | Species | Taxom |
| Platyrhacidae Pocock, 1895 | | 201 | Species | Taxom |
| Pleurojulidae | | 3 | Species | Taxom |
| Polydesmidae Leach, 1815 | Flat Millipedes | 691 | Species | Taxom |
| Polyxenidae Lucas, 1840 | Bristly millipedes | 85 | Species | Taxom |
| Polyzoniidae Newport, 1844 | Polyzoniid Millipedes | 39 | Species | Taxom |
| Proglomeridae Fritsch, 1899 | | 5 | Species | Taxom |
| Proiulidae | | 1 | Species | Taxom |
| Pseudonannolenidae Silvestri, 1895 | | 57 | Species | Taxom |
| Pseudonemasomatidae Enghoff, 1991 | | 1 | Species | Taxom |
| Pseudospirobolellidae Brölemann, 1913 | | 9 | Species | Taxom |
| Pygmaeosomatidae Carl, 1941 | | 13 | Species | Taxom |
| Pyrgodesmidae Silvestri, 1896 | | 287 | Species | Taxom |
| Rhachodesmidae Carl, 1903 | | 84 | Species | Taxom |
| Rhinocricidae Brölemann, 1913 | | 739 | Species | Taxom |
| Rhiscosomididae Silvestri, 1909 | | 9 | Species | Taxom |
| Rhopaloiulidae Attems, 1926 | | 2 | Species | Taxom |
| Schizopetalidae Verhoeff, 1909 | | 119 | Species | Taxom |
| Sinocallipodidae Zhang, 1993 | | 7 | Species | Taxom |
| Siphoniulidae Pocock, 1894 | | 2 | Species | Taxom |
| Siphonocryptidae Pocock, 1894 | | 5 | Species | Taxom |
| Siphonophoridae Newport, 1844 | | 134 | Species | Taxom |
| Siphonorhinidae Cook, 1895 | | 18 | Species | Taxom |
| Siphonotidae Cook, 1895 | | 54 | Species | Taxom |
| Speophilosomatidae Takakuwa, 1949 | | 5 | Species | Taxom |
| Sphaerherpestidae Fritsch, 1899 | | 3 | Species | Taxom |
| Sphaeriodesmidae Humbert & De..., 1869 | | 119 | Species | Taxom |
| Sphaeropoeidae (Brölemann, 1913) | | 4 | Species | Taxom |
| Sphaerotheriidae Brandt, 1833 | Pill millipedes | 268 | Species | Taxom |
| Spirobolellidae Brölemann, 1913 | | 98 | Species | Taxom |
| Spirobolidae Bollman, 1893 | | 133 | Species | Taxom |
| Spirostreptidae Brandt, 1833 | | 722 | Species | Taxom |
| Stemmiulidae Pocock, 1894 | | 164 | Species | Taxom |
| Striariidae Bollman, 1893 | | 26 | Species | Taxom |
| Stylodesmidae (Cook, 1895) | | 1 | Species | Taxom |
| Synxenidae Silvestri, 1923 | | 11 | Species | Taxom |
| Telsonemasomatidae Enghoff, 1991 | | 1 | Species | Taxom |
| Tingupidae Loomis, 1966 | | 16 | Species | Taxom |
| Trachygonidae Cook, 1896 | | 14 | Species | Taxom |
| Trachysphaeridae | | 50 | Species | Taxom |
| Trichoblaniulidae Verhoeff, 1911 | | 7 | Species | Taxom |
| Trichonemasomatidae Enghoff, 1991 | | 2 | Species | Taxom |
| Trichopetalidae Verhoeff, 1914 | | 49 | Species | Taxom |
| Trichopolydesmidae Verhoeff, 1910 | | 16 | Species | Taxom |
| Tridontomidae Loomis & Hof..., 1962 | | 3 | Species | Taxom |
| Trigoniulidae Attems, 1909 | | 102 | Species | Taxom |
| Typhlobolellidae Hoffman, 1969 | | 7 | Species | Taxom |
| Urochordeumatidae Silvestri, 1909 | | 3 | Species | Taxom |
| Vaalogonopodidae Verhoeff, 1940 | | 5 | Species | Taxom |
| Vandeleumatidae Mauriès, 1970 | | 13 | Species | Taxom |
| Verhoeffiidae Verhoeff, 1899 | | 15 | Species | Taxom |
| Xyloiulidae Cook, 1895 | | 13 | Species | Taxom |
| Xystodesmidae Cook, 1895 | Xystodesmid Millipedes | 537 | Species | Taxom |
| Zanclodesmidae Wilson, Daes..., 2005 | | 2 | Species | Taxom |
| Zephroniidae Gray, 1843 | | 159 | Species | Taxom |
| Zosteractinidae Loomis, 1943 | | 3 | Species | Taxom |
| Zosterogrammidae Wilson, 2005 | | 4 | Species | Taxom |