Zelurus galvaoi sp. nov. (Hemiptera: Heteroptera: Reduviidae: Reduviinae) is described from Peru, based on a male and a female specimens. Photographs of type specimens and short notes on the characteristics of Zelurus montivagus Lent & Wygodzinsky, 1955, Zelurus abalosi Lent & Wygodzinsky, 1951 and Zelurus singularis Lent & Wygodzinsky, 1947, related to the new species, are presented. Zelurus abalosi is recorded from Bolivia for the first time.