Annelida vs. Arthropoda — What's the Difference?

A division of the Articulata, having the body formed of numerous rings or annular segments, and without jointed legs. The principal subdivisions are the Chætopoda, including the Oligochæta or earthworms and Polychæta or marine worms; and the Hirudinea or leeches. See Chætopoda.

A large division of Articulata, embracing all those that have jointed legs. It includes Insects, Arachnida, Pychnogonida, and Crustacea.

Segmented worms: earthworms; lugworms; leeches

Jointed-foot invertebrates: arachnids; crustaceans; insects; millipedes; centipedes