An ovigerous crab of Heteropilumnus ciliatus (Stimpson) was collected in South Korean waters, and the larvae were reared in the laboratory. Three zoeal stages are described and illustrated in detail. Morphological characteristics of the first zoea of H. ciliatus differ from those described by Takeda and Miyake (1968). The first zoea of H. ciliatus appears to be similar to the first zoeas of Heteropanope glabra Stimpson and Pilumnopeus makiana (Rathbun), but they can be distinguished from each other by differences of the carapace spines. A provisional key is provided to aid the identification of the pilumnid zoeas in Korea and adjacent waters.