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The Twelfth Doctor described the Lothan as "giant centipedes". (TV: For Tonight We Might Die)
Nardole described the Qol as "alien centipedes". (PROSE: Pain Management)
The Tenth Doctor described the Terpsivores as "60-foot long centipedes". (COMIC: Death Disco)
Jason described the "Wet Puppy" aliens as having lots of legs like a centipede. (PROSE: Cuckoo-Spit)
Queegvogel was a centipede-like alien. (PROSE: Burning Heart)