A new species in the vorhiesi group of Vaejovis C.L. Koch, 1836 (Vaejovidae Thorell, 1876), which appears to be endemic to the Hualapai Mountains near Kingman, Arizona, is described and illustrated. Vaejovis tenuipalpus, n. sp., the 11th species in the vorhiesi group, is compared to morphologically similar species, including V. jonesi Stahnke, 1940, V. lapidicola Stahnke, 1940, V. vorhiesi Stahnke, 1940, and V. deboerae Ayrey, 2009. The new species possesses the most slender pedipalp chelae in the vorhiesi group. New distribution records and a comprehensive distribution map are provided for all Arizona members of the group.