A new species of poecilostome cyclopoid copepod, Pennatulicola piscatorius n. sp., is described as an associate of the pennatulacean genus Pteroeides from Tokyo Bay, Japan. The new species is distinguishable from its congeners by the following combination of features: exopod of leg 5 with conical inner process arising 38% of way distally, maxillule with three apical setae, and basis of legs 1-4 with a simple outer seta. This is the first record of the genus Pennatulicola in East Asia.