The leaves are linear to elliptic, 9–26 mm (0.35–1.02 in) long and 2–5 mm (0.079–0.197 in) wide, mostly sessile and crowded, often in clusters from the same leaf node, smooth and glossy on upper surface, underside with short, soft hairs and rolled margins.

The corolla is purple-blue or pink inside, tube about 1.6 mm (0.063 in) long and flattened grey to black hairs on the outside.

Flowering occurs usually August to November and the fruit is egg-shaped, narrower end at the base, grey, hairy and 2–4 mm (0.079–0.157 in) long.

[2][3][4] Dampiera rosmarinifolia was first formally described in 1847 by Diederich Franz Leonhard von Schlechtendal and the description was published in Linnaea: ein Journal für die Botanik in ihrem ganzen Umfange, oder Beiträge zur Pflanzenkunde.

[7] Rosemary dampiera grows usually in low-rainfall areas in mallee, scrub and sandy soils in north-western Victoria to the Eyre Peninsula in South Australia.