For animals, foraging is a crucial behavior, and the Optimal Foraging Theory explains individual foraging strategies by modeling the profitability of prey. Previous research on centipede predation behavior can be divided into three parts: the sequence of centipede predation behavior, the efficiency of venom action, and the influence of prey density on their predation style. However, there has been no discussion of which sensory perception centipedes rely on for hunting, the advantages and disadvantages of attacking different body parts, and the impact of prey quality on centipede hunting time. This study used the species Scolopendra subspinipes, Dubia, and Turkestan cockroach as experimental subjects and investigated the above three points through phenotype measurements and predation records. The results showed that centipedes primarily rely on tactile senses for hunting and have an advantage in attacking the ventral side of the prey. Changes in the phenotype of Turkestan cockroacheses led to significant differences in the searching and handling time for centipedes, while the differences in Dubia were less noticeable. Calculations using the Optimal Foraging Model revealed that the gain rate of Dubia was significantly higher than that of Turkestan cockroacheses, indicating that centipedes obtain more benefits from hunting Dubia-like prey. This study provides further insights into the behavioral ecology of centipedes.