Advancing current knowledge about deep-sea shrimps is challenging, considering the difficulty in sampling organisms and the damaged state in which they arrive at the surface after collection. Thus, several aspects of their biology and ecology remain unknown or poorly understood, despite the importance of many species to worldwide fisheries. Integrative taxonomic approaches, merging morphological and DNA barcoding analyses, have been useful to obtain more information about these crustaceans. The family Benthesicymidae, which includes benthopelagic species inhabiting depths of 500 to 2000 m, remains among the least understood, since information available for both larvae and adults is scarce. The taxonomy of the family has been phylogenetically reviewed in recent years, as in the case of Benthesicymus, now considered a paraphyletic genus with two species—Benthesicymus crenatus and Benthesicymus laciniatus. Previously described species of the genus were reassigned to new and distinct genera within the family Benthesicymidae. The present study provides an extension of a previous work in which we reported the first description of the decapodid stage of B. laciniatus using integrative taxonomy by adding the first description of the zoeal stages of the species. Specimens were collected in the neuston layer (surface of the water column) during a sea survey in the Madeira-Tore geological complex in the north-eastern Atlantic. Several morphological characters distinguished the individuals from closely related taxa described in the literature, especially regarding the abdominal spines and the telson shape. The morphology of the sampled larval stages is discussed and compared with the available knowledge for Benthesicymidae shrimps, adding new knowledge for future taxonomic studies and clarifying older larval descriptions. Insights into the larval ecology of the species are provided, with a focus on its adaptations to a neustonic lifestyle.