The Thelyphonida (formerly Uropygida), commonly known as vinegarroons or whip scorpions, range from 25 to 85 mm in length; the largest species, of the genus Mastigoproctus, reaches 85 mm (3.3 in). Like the related orders Schizomida, Amblypygi, and Solifugae, the vinegarroons use only six legs for walking, having modified their first two legs to serve as antennae-like sensory organs. Many species also have very large scorpion-like pedipalps (pincers). They have one pair of eyes at the front of the cephalothorax and three on each side of the head. Whip scorpions have no poison glands, but they do have glands near the rear of their abdomen that can spray a combination of acetic acid and octanoic acid when they are bothered. Other species spray formic acid or chlorine. As of 2006, over 100 species have been described worldwide.

Whip scorpions are carnivorous, nocturnal hunters feeding mostly on insects but sometimes on worms and slugs. The prey is crushed between special teeth on the inside of the trochanters (the second segment of the leg) of the front legs. They are valuable in controlling cockroach and cricket populations.

Males secrete a sperm sac, which is transferred to the female. Up to 35 eggs are laid in a burrow, within a mucous membrane that preserves moisture. Mothers stay with the eggs and do not eat. The white young that hatch from the eggs climb onto their mother's back and attach themselves there with special suckers. After the first molt, they look like miniature whip scorpions, and leave the burrow; the mother dies soon after. The young grow slowly, going through three molts in about three years before reaching adulthood.

Vinegarroons are found in tropical and subtropical areas worldwide, usually in underground burrows that they dig with their pedipalps. They may also burrow under logs, rotting wood, rocks, and other natural debris. They enjoy humid, dark places and avoid the light.