The complete larval development of Chiromantes haematocheir was obtained by laboratory rearing. Five zoeal and one megalopal stages are described and illustrated in detail. Morphological characteristics of the larvae slightly differ from those of Lee (1988), especially in the setal presence of mouthpart appendages. Seven sesarminid zoeas (Parasesarma acis, Parasesarma pictum, Perisesarma bidens, Sesarmops intermedius, Chiromantes dehaani, Chiromantes haematocheir, and Nanosesarma gordoni) can be distinguished from each other in characters of the carapace spines, the antennal exopod and the fork of telson. A provisional key is first provided to aid the identification of seven sesarminid zoeas in Korea.