It is a slender, erect or sprawling shrub with pinnate leaves with fifteen to nineteen leaflets, and yellow or pink, pea-like flowers.

Gompholobium venustum is a slender, erect or sprawling shrub that typically grows to a height of 10–50 cm (3.9–19.7 in) and has glabrous stems.

Its leaves are pinnate and 15–30 mm (0.59–1.18 in) long with fifteen to nineteen needle-shaped leaflets with one or two longitudinal grooves on the lower surface.

[5] This gompholobium grows on sandplains, ridges and outcrops in the Esperance Plains, Jarrah Forest, Mallee and Warren biogeographic regions of southern Western Australia.

[2] Gompholobium venustum is classified as "not threatened" by the Western Australian Government Department of Parks and Wildlife.