The leaves are arranged alternately, simple, smooth or with sparse hairs, stipules narrow to egg-shaped, 1–2 mm (0.039–0.079 in) long.

The flowers are single or in pairs, 6–12 mm (0.24–0.47 in) long, have orange-yellow standards, that are pinkish brown on the back, and purple-brown keels.

It is similar to the species Bossiaea buxifolia, but may be distinguished by its longer leaves, petioles and pedicels and more distant leaf spacing.

[2][3][4][5] Bossiaea prostrata was first formally described in 1812 by botanist Robert Brown and the description was published in Hortus Kewensis.

It grows in coastal heath, grassland and open-forest on a variety of soils including clay-shale, preferring wetter locations.