There are three main types of worms: nematodes, platyhelminths, and annelids. Nematodes have soft, cylindrical bodies without segments or respiratory systems. They live in water or soil, and some are parasites. Platyhelminths have long, flat, soft bodies and lack respiratory or digestive systems. Many live in water or damp places as parasites. Annelids have soft, segmented bodies with a head, clitellum, and segments. One type of annelid is the earthworm.