This paper offers the first cladistic analysis of the poorly known millipede genus Poecilocricus Schubart, 1962, from Brazil. The data set was composed of 18 taxa and 40 morphological characters. We performed a parsimony analysis by exhaustive search (ie; implicit enumeration) under equal weights (EW) in TNT 1.5. One most parsimonious tree with 78 steps (CI = 0.57; RI = 0.79) recovered the monophyly of the genus. Poecilocricus was supported by the following synapomorphies: median portion of mentum of the gnathochilarium with a large and rounded protuberance; second body ring excavated in ventral view; seventh body ring with internal extension on sternite; coxae of leg pairs 5, 6, and 7 expanded into a long process; apex of coxae of leg pair 3 with short thin setae on apex; medial portion of coxite of anterior gonopod with similar round bulge at both sides in anterior view; telopodite of posterior gonopod with external branch bifurcated in two short branches; and solenomere short and lanceolated. In addition, we conducted a taxonomic revision of the genus providing redescription of the type species Poecilocricus singularis Schubart, 1962, and the description of the four new species: P. mataraca sp. nov., P. vazante sp. nov., P. itacarambiensis sp. nov. and P. lina sp. nov. Furthermore, we include an identification key to the males and a distribution map for all species of the genus.