Acronychia pubescens is a shrub or tree that typically grows to a height of 15 m (49 ft) with a stem diameter of 18 cm (7.1 in).

The bark is greyish brown and relatively smooth, the small branchlets golden with downy hair.

The fruit contains up to three dark grey or black seeds 4–4.5 mm (0.16–0.18 in) long and resembling a miniature canoe.

[3][4][5][6][7] Hairy acronychia was first described in 1891 by Frederick Manson Bailey who gave it the name Melicope pubescens and published the description in the Botany Bulletin of the Department of Agriculture, Queensland from a collection from the Blackall Range.

Acronychia pubescens requires good drainage, but benefits from extra water and fertiliser when grown in cultivation.