Just to clarify taxonomically a Velvet Worm (Peripatus) is of the phylum Onychophora.
The comman species of Velvet Worm today are indeed grey and sorta furry. Hallucigenia sparsa is an extinct species of onchophoran that was particularily spiney and freaky looking.
by Halucinagenia March 03, 2006
1 more definition
A Very hairy penis.(Named for the creature decended from the extinct marine organism, Halucinagenia.)
Hey, stop touching my Velvet Worm.
by Light Joker April 29, 2004