Henicops milledgei is a species of centipede in the Henicopidae family. It is endemic to Australia. It was first described in 2004 by Lauren Hollington and Gregory Edgecombe.
The species occurs in Victoria, south-eastern Australia. The type locality is the Tarra-Bulga National Park, in the Strzelecki Ranges of South Gippsland.
The centipedes are solitary terrestrial predators that inhabit plant litter and soil.