(although some secrete toxins, so don't go licking them...).
Centipedes, on the other foot...
(, Wed 22 Dec 2021, 1:06, Reply)
blog.nature.org/science/2017/10/17/millipede-protects-itself-cyanide-yellow-spotted-bugs/
(, Wed 22 Dec 2021, 9:43, Reply)
and hydrochloric acid...and some can spray it nearly a metre from them. However, as they don't bite or sting, it's considered a toxin not a venom.
(, Wed 22 Dec 2021, 13:31, Reply)