Yes, MILLEPEDE is a Scrabble word!

Letter values in Scrabble US: M 3, I 1, L 1, L 1, E 1, P 3, E 1, D 2, E 1.

Is it a valid word?

MILLEPEDE is a valid word in the official Scrabble dictionary (US) and the UK Scrabble Dictionary, but not in Words with Friends (ENABLE).

any of numerous herbivorous nonpoisonous arthropods having a cylindrical body of 20 to 100 or more segments most with two pairs of legs