The pilumnid crab Pilumnus limosus is known from Gonzaga Bay, Baja California, Mexico, to Zorritos, Paita, Peru. Larvae from a female collected in the intertidal rocky shore in Mazatlán, south-eastern Gulf of California, Mexico, were reared in the laboratory from Zoea I to megalopa. A complete description and illustration of larval features is provided and a comparison with closely related species showing known larval development is presented. As in most species of this genus, P. limosus larval development consists of four zoeae. All features observed in P. limosus are similar to those of P. reticulatus and P. sayi. All those larvae have lateral processes on abdominal somites 2–5 (2 or 3 in other species); posteromarginal denticles on abdominal somites 2–6 (absent in other species of the genus).