In three mixed samples (mosses and leaf litter) collected in Zambia (southern Africa), forty-three specimens and six eggs of eutardigrades were found. Among them, 29 specimens belonged to a new species of the family Isohypsibiidae, Doryphoribius niedbalai n.sp. The new species belongs to the Doryphoribius evelinae group and it differs from other members of the group mainly by a different number and configuration of dorsal gibbosities, as well as by some morphometric characters. Apart from the new species, the examined material contained also two rare African eutardigrades: Milnesium tetralamellatum and Calcarobiotus (Calcarobiotus) parvicalcar. These species are recorded for the first time outside their type localities. Additionally, Paramacrobiotus vanescens is recorded for the fourth time from Africa. In this paper, together with the description of the new species, first ever photomicrographs of Milnesium tetralamellatum and Paramacrobiotus vanescens are also provided. This is the first account of the phylum Tardigrada from Zambia.