Centaurs were among the first races to Withdraw from the Other World to the world of Daventry.
Non-Canon[]
King's Quest ZZT[]
In the unofficial games, King's Quest ZZT and King's Quest ZZT 2, centaurs are a reclusive race living in the Village of the Centaurs on the island of Llewdor. They are fierce warriors and very quick, but still are hardly a match for the ogres who hunt them mercilessly.
Real World[]
Centaurs are one of the races of the King's Quest series. Although they are never seen in any of the games, they are described in the King's Quest Companion.