The centipede Scolopendra has important medicinal value and high toxicity, making it to be an interesting subject for evolutionary studies. However, species identification in China is difficult because of limited resource exploration and lack of recent taxonomic revision. To improve the identification and taxonomy of the genus Scolopendra in China, an in-depth investigation was conducted, and an integrated method that combined morphological characteristics with molecular data was applied. The identification key was revised to show the main difference among species. Our results indicated that morphologically-delimited species were consistent with the molecular analysis inferred from the COI sequences with genetic distances and phylogenetic trees. Additional morphometrics of four characteristics provided criteria for shape variation. These results suggested that the members of the genus Scolopendra in China could be delineated as 14 separate species. A new species from Lufeng county, Yunnan province, was proposed according to its characteristics, which was named as S. lufengia sp. nov. Our results comprehensively ascertained the taxonomic status of Scolopendra species in China, explored their phylogenetic relationships, showed a high success in the identification of medicinal centipedes.