The Geophilus hadesi is a new species and differs from other centipedes in the Geophilomorph order which only occasionally come out in caves and spend their entire lives in the darkness of the underground.
The discovery of Hades was reported in the ZooKeys scientific periodical on Tuesday and the news was released to the media a day later.
Hades has been located in three Velebit caves at a depth of more than a thousand metres. It has 33 pairs of legs and is about 2.8 centimetres long and has long feelers and fur-like paws to help it detect its prey.
Scientists are not sure why the centipede lives underground and they are convinced its not the only new creature that inhabits the Velebit underground.
Two years ago a new species of snail with a translucent shell was discovered in the region.