A new palpimanid genus, Sceliraptorgen. n., and two new species, S. murphiorumgen. n. et sp. n. (♂; type species) and S. jaegerigen. n. et sp. n. (♂), are diagnosed and described from Kenya. In the shape of the anterior part of the carapace, and the structure of the eye group and legs, the new genus seems to be related to the chedimine genera Scelidocteus Simon, 1907, Sceliscelis Oketch & Li, 2020 and, especially, to SarascelisSimon, 1893; it reliably differs from them in the structure of a gently and gradually descending posterior part of the carapace and by a very deep and narrow slit-like thoracic fovea (compared to a respectively sharply sloping posterior carapace and a wider fovea in the related genera). Additionally, the male palp structure in Sceliraptor gen. n. species is distinct from that of all the related genera. The two newly described species can be distinguished by the palp structure, configuration of the embolus and supporting structures of the bulb, and by the shape of abdominal sclerites. Distribution records of Sarascelis chaperiSimon, 1887, Scelidocteus vuattouxiJézéquel, 1964, and Sceliscelis marshiOketch & Li, 2020 are updated.