It has smooth greyish bark that is shed in curly strips, linear to narrow lance-shaped adult leaves, long, spindle-shaped flower buds in groups of seven or nine, pale yellow or lemon-coloured flowers and conical, cylindrical or barrel-shaped fruit.

[2][3][4] Eucalyptus densa was first formally described in 1991 by the botanists Ian Brooker and Stephen Hopper and the description was published in the journal Nuytsia.

[4][5] The specific epithet (densa) is a Latin word meaning "thick", "close" or "compact",[6]: 790  referring to crown of this species.

[4] This eucalypt is found on ridges, flats and drainage line areas of the southern Wheatbelt and Goldfields-Esperance regions of Western Australia where it grows in clay, loam, sandy or lateritic soils.

[8][10] Both subspecies of E. densa are classified as "not threatened" by the Western Australian Government Department of Parks and Wildlife.