Haemaphysalis (Rhipistoma) princeps n. sp. (Acari: Ixodidae) and H. (R.) camicasi n. sp. are described based on adults. Adults of H. princeps n. sp. were mostly collected from various carnivores (Carnivora: Canidae, Felidae, Herpestidae, Mustelidae, Viverridae) and hedgehogs (Erinaceomorpha: Erinaceidae); few specimens were found on hare (Lagomorpha: Leporidae), various rodents (Rodentia: Muridae) and an antelope (Artiodactyla: Bovidae) in Benin, Burkina Faso, Cameroon, Chad, Côte d'Ivoire, Ghana, Mali, Nigeria, Senegal, South Sudan and Sudan. Few adults of H. princeps n. sp. were reared from nymphs collected on rodents (Rodentia: Muridae) and shrew (Soricomorpha: Soricidae). Adults of H. camicasi n. sp. were also mostly collected from various carnivores (Carnivora: Canidae, Felidae, Herpestidae, Mustelidae, Viverridae) and hedgehogs (Erinaceomorpha: Erinaceidae); few specimens were found on different rodents (Rodentia: Muridae, Nesomyidae, Sciuridae), hare (Lagomorpha: Leporidae) and bushbaby (Primates: Galagidae) in Benin, Burkina Faso, Cameroon, Central African Republic, Chad, Côte d'Ivoire, Nigeria, Senegal, South Sudan and Togo. Males and females of both species can be differentiated from each other and other H. spinulosa-like ticks by their size, pattern of punctations on conscutum/scutum, size of setae, shape of genital structures, size and shape of spiracular plates, dorsal cornua, posterodorsal and posteroventral spurs on palpal segments II and spur on coxae.