Bristle worm. Also called fireworm. The proper term is polychaete worm. They are harmless. In fact, better than harmless, they are the most beneficial scavenger you can have in your tank. Give it long enough and someo e will tell you it's dangerous and get rid of it. They are wrong.
Bristle worms are wonderful cleaners, often consuming a dead animal before you can even be sure it's not simply asleep. As such, they get unfairly blamed for killing things. With very few, very specific, exceptions, these worms will not hurt any healthy animal in your tank. They will, however, do more than any other animal to keep your tank healthy.