Consoles :

Atari 2600 (1982)

Atari 5200 (1982)

Atari XEGS

Atari 7800 (1984)

Colecovision (1983)

Mattel Intellivision (1983)

Atari Lynx (1987)

Sega Master System (1992, "Arcade Smash Hits")

Nintendo Game Boy (1995, "Centipede / Millipede")

Nintendo Game Boy Color (1995)

Sega Game Gear (1996, "Arcade Classics")

Sega Mega Drive1996, "Arcade Classics")

Sony PlayStation (1996, "Arcade's Greatest Hits - The Atari Collection 1")

Nintendo Super Famicom (1997, "Arcade's Greatest Hits - The Atari Collection 1")

Sega Saturn (1997, "Arcade's Greatest Hits - The Atari Collection 1")

Sony PlayStation (1999) : features Arcade and Adventure games with new 3-D graphics. This port is sometimes referred to as "Centipede 3-D".

Sega Dreamcast (1999) : features Arcade and Adventure style games with new 3-D graphics. This port is sometimes referred to as "Centipede 3-D".

Sony PlayStation (2001, "Atari Anniversary Edition Redux")

Sega Dreamcast (2001, "Atari Anniversary Edition")

Nintendo Game Boy Advance (2002, "Atari Anniversary Advance")

Nintendo Game Boy Advance (2002, "Centipede / Breakout / Warlords")

Sony PlayStation 2 (2004, "Atari Anthology") : appears in both arcade and Atari 2600 forms.

Microsoft XBOX (2004, "Atari Anthology") : appears in both arcade and Atari 2600 forms.

Nintendo DS (2005, "Retro Atari Classics")

Microsoft XBOX 360 (2007, "Centipede / Millipede" - Xbox Live Arcade)
Computers :
Atari 800 (1982)
Tandy Color Computer (1982, "Katerpillar Attack")
Tandy Color Computer (1982, "Caterpillar")
Tandy Color Computer (1982, "Colorpede")
Tandy Color Computer (1983, "Megapede")
Tandy Color Computer (1983, "Color Caterpillar")
PC [Booter] (1983, "Bug Blaster", a part of the "Friendlyware PC Arcade" suite)
PC [MS-DOS] (1983, "Centipede", Atari Inc.)
PC [MS-DOS] (1983, "Centipede", R. J. Grafe)
Commodore VIC-20 (1983)
Commodore C64 (1983)
Memotech MTX 512 (1983, "Kilopede")
BBC B (1983, "Bug Blaster" - Alligata)
TI99/4A (1983, "Centipede", Atarisoft)
Sinclair ZX-Spectrum (1983, "Spectipede", R&R Software Ltd)
Sinclair ZX Spectrum (1983, "Centi-Bug", Dk'tronics)

Amstrad CPC (1986, "Killapede", Players)
Atari ST (1992)
PC [MS Windows, 3.5''] (1993, "Microsoft Arcade")
PC [MS-DOS] (1997, "ChampCentiped-em" - CHAMProgramming)
PC [MS Windows, CD-ROM] (1998) : features "Arcade" and "Adventure" games with new 3-D graphics. This port is sometimes referred to as "Centipede 3-D". The Bug Blaster is referred to as "The Shooter".
PC [MS Windows, CD-ROM] (1999, "Atari Arcade hits 1")
PC [MS Windows, CD-ROM] (2001, "Atari Anniversary Edition")
Apple Macintosh (2001) : features 'Arcade' and 'Adventure' game variations with new 3D graphics. This port is sometimes referred to as "Centipede 3-D".
PC [MS Windows, CD-ROM] (2003, "Atari - 80 Classic Games in One!") : appears in both arcade and Atari 2600 forms.
Others :
Tiger Game.Com (1999)
Atari 10 in 1 TV Game (2002 - Jakk's Pacific)
Mobile phone [Motorola T720] (2002)
Atari Flashback 2 (2005)
Nokia N-Gage (2006, "Atari Masterpieces Volume 2")
Mobile phones (2006)
* Notes :
The modernized 3-D remake of the game released for PC CD-ROM, Sony PlayStation,

Sega Dreamcast, and Apple Macintosh refers to the player's Bug Blaster as "The Shooter", refers to the cast of enemies as the 'Legend', and follows this storyline :
"The story begins every hundred years. It always begins in the same way, with a Legend awakening. Legend says that a multitude of armored beasts emerge from the dark core of the earth. They swarm to the surface, drawn by their master. Every hundred years they try to overtake our world and we always thing we've destroyed them. The Legend also has it that every hundred years, we're wrong!
When word came down that the Legend has come to life, we built The Shooter. But we needed a hero to fly it. This year the magic stick didn't point to the usual hero. It pointed to Wally Gudmunzsun. Now Wally wasn't one of the usual heroes. In fact, he wasn't a hero at all. He was just a simple bean counter. But when you're asked to save the world, you don't ask why. You just make it happen."