It is a shrub with oblong to lance-shaped leaves and red, yellow and orange flowers over an extended period.

The leaves are arranged in opposite pairs along the stems, 6–12 millimetres (0.2–0.5 in) long, lance-shaped to oval with a blunt tip and with their edges rolled under.

The leaves have obvious oil glands on their lower surface and have a pleasant lemon scent when crushed.

The description was published in Enumeratio plantarum quas in Novae Hollandiæ ora austro-occidentali ad fluvium Cygnorum et in sinu Regis Georgii collegit Carolus Liber Baro de Hügel.

[11][12] Darwinia citriodora is listed as "not threatened" by the Government of Western Australia Department of Parks and Wildlife.