Looks like one of the zillions of different errantiate polychaete species (often all lumped together in the hobby under the term "bristleworms"). The darker (non orange/red/brown) ones like this tend to be the kind that gets bigger than average. This one still looks pretty small though. Are the little sticks coming out of the side of it legs or bristles that stick more to the side and even upwards?
Most are harmless, even benficial, detrivores, but keep track of your snails, clams, and other inverts, and especially for anything that looks dead or dying that has a mucusy covering on it (the bad species of these worms use that stuff to trap their prey). Usually if you see a bloom of these it's yet another sign of excess nutrients in your system.