Rhyncholepis parvula was discovered and originally described in 1911, and described in more detail in 1924 by Norwegian Professor Johan Kiær. In the associated monograph, Kiær describes the genus in great detail, along with several other anaspids discovered around the same time.
More recently, the second discovered species (R. butriangula) was described by Henning Blom, Tiiu Märss, and C. Giles Miller in 2002.[2]