A new palpimanid genus, Sceliraptor gen. n., and two new species, S. murphiorum gen. n. et sp. n. (♂; type species) and S. jaegeri gen. 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 Sarascelis Simon, 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 chaperi Simon, 1887, Scelidocteus vuattouxi Jézéquel, 1964, and Sceliscelis marshi Oketch & Li, 2020 are updated.