It has heart-shaped to triangular leaves with the narrower end towards the base, and densely covered with star-shaped hairs.

The flowers are yellow and arranged singly or in groups of three to six in leaf axils or on the ends of branchlets, the back of the petals densely covered with rust-coloured, star-shaped hairs.

[2][3][4][5] Asterolasia rupestris was first formally described in 2002 by Bryan J. Mole in the journal Muelleria from specimens collected on Mount Kaputar in 1987.

[5][6] In the same journal, Mole described two subspecies: This species grows in heath, shrubland and woodland, usually on trachyte.

Subspecies recurva is only known from Parlour Mountain, north west of Armidale in New South Wales.