NHMUK PV R36615 was discovered by a joint 1963 expedition of the Natural History Museum and the University of London to eastern Zambia and western Tanzania (then northern Rhodesia and Tanganyika, respectively).

Asperoris comes from Manda Beds of the Ruhuhu Basin in Songea Urban District of southwestern Tanzania, which dates back to the late Anisian stage of the Middle Triassic.

It has several features that place it outside Archosauria with non-archosaurian archosauriforms, including the lack of an antorbital fossa and the possible presence of a postparietal bone at the back of the skull, which is not found in archosaurs.

However, it also has features that place it among the closest relatives of archosaurs, including the presence of an antorbital fenestra and the lack of a hole called the parietal foramen on the skull roof.

Asperoris shares with a group of archosauriforms called erythrosuchids the presence of slot in the lower part of the nasal bone that fits into a projection of the premaxilla beneath it.

Most parts of Ezcurra's analysis omitted this genus due to its incompleteness, but in versions which did feature it, it was found in a polytomy with Yarasuchus, Dongusuchus, Dorosuchus, and Euparkeria at the base of a clade which also includes proterochampsians and archosaurs.