Probably so called because the numerous legs along the sides move rhythmically like the oars of a galley.
"galley-worm." YourDictionary, n.d. Web. 07 December 2018. <https://www.yourdictionary.com/galley-worm>.
galley-worm. (n.d.). Retrieved December 07th, 2018, from https://www.yourdictionary.com/galley-worm
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