The Centaurians are a blue-skinned spacefaring race.
After encountering the corpse marked as G.H. inside the facility known as The Guest House, Phil Coulson asked Lady Sif if she had met any blue alien species. When Sif replied, she listed, among others, Centaurians. She added that the Centaurians had never been on Earth, without knowing that one of the Centaurians, Yondu Udonta, came to Earth in 1988 to kidnap a young Peter Quill.
Centaurians are humanoid, with differentiating features such as blue skin.
Centaurians developed and use Yaka arrows as weapons.