Andreacarus voalavo was named in 2007 by Ashley Dowling, Andre Bochkov, and Barry OConnor on the basis of 15 specimens found on an individual of the rodent Voalavo gymnocaudus that was collected in 1994 in the Anjanaharibe-Sud Reserve in northern Madagascar.
The species was formally described in 2005 and is most closely related to the only other species of Voalavo, Voalavo gymnocaudus from northern Madagascar.