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We study the superconductivity of spin-polarized electrons in centrosymmetric ferromagnetic metals. Due to the spin-polarization and the Fermi statistics of electrons, the superconducting pairing function naturally has odd parity. According to the parity formula proposed by Fu, Berg, and Sato, odd-parity pairing leads to conventional first-order topological superconductivity when a normal metal has an odd number of Fermi surfaces. Here, we derive generalized parity formulae for the topological invariants characterizing higher-order topology of centrosymmetric superconductors. Based on the formulae, we systematically classify all possible band structures of ferromagnetic metals that can induce inversion-protected higher-order topological superconductivity. Among them, doped ferromagnetic nodal semimetals are identified as the most promising normal state platform for higher-order topological superconductivity. In two dimensions, we show that odd-parity pairing of doped Dirac semimetals induces a second-order topological superconductor. In three dimensions, odd-parity pairing of doped nodal line semimetals generates a nodal line topological superconductor with monopole charges. On the other hand, odd-parity pairing of doped monopole nodal line semimetals induces a three-dimensional third-order topological superconductor. Our theory shows that the combination of superconductivity and ferromagnetic nodal semimetals opens up a new avenue for future topological quantum computations using Majorana zero modes., 6+13 pages, 2+1 figures; accepted version