Millipedes have two legs per segment while centipedes have only one pair of legs

True

Explanation:

Milipedes belong to a class of organism known as diplopoda which have double foot. Thus, millipedes have two legs per segments. They usually have  two pairs of jointed legs. The double legged segments have formed out of two single segments fused together

On the other hand ,  a centipedes has  only one pair of legs per segment.

Thus the given statement is true.