A taxonomic review of the endemic Western Australian millipede genus Boreohesperus Shear is presented in which six species are recognized: the type species, B. capensis Shear, 1992, from North-West Cape, one new species, B. dubitalis, from Barrow Island and four more new species from the Pilbara region, B. curiosus, B. delicatus, B. furcosus and B. undulatus. All six species have highly localized distributions, consistent with being short-range endemics. The nomenclature of the branches of the male gonopod is revised.