A small, prickly-leaved shrub between 0.2–3 m (0.66–9.84 ft) high, G. juniperina generally grows on clay-based or alluvial soils in eucalypt woodland.

[14] The type specimen for this species was collected from the Port Jackson area (Sydney district) and was described by botanist Robert Brown in 1810, who gave it the specific epithet juniperina that alludes to its juniper-like foliage.

[15] The lectotype was selected by Don MacGillivray in 1993 from a collection by George Caley in 1803 11 km (6.8 mi) northwest of Prospect in what is now Sydney's outer western suburbs.

[16] English botanist and explorer Allan Cunningham collected what he called Grevillea sulphurea in 1822 near Coxs River in the Bathurst area, where it grew alongside G. rosmarinifolia and G. arenaria subspecies canescens.

[18] Within this group, G. juniperina is classified in the Speciosa subgroup, five species of bird-pollinated grevilleas found in eastern Australia.

[13] Killed by bushfire, Grevillea juniperina regenerates afterwards by seeds that germinate after lying dormant in the soil,[13] stimulated by exposure to heat and smoke.

Intervals of 10 to 15 years between fires are thought to be most beneficial for the species' survival, as this allows seed numbers to build up in the soil over time.

[35] A springtail species of Australian origin—Calvatomina superba—was found on Grevillea juniperina cultivated at the Lost Gardens of Heligan in Cornwall.

[5] Its habitat is threatened by housing development,[15] road upgrading, inappropriate fire regimes, weed invasion, rubbish dumping and trampling either by people or cars.

[14] Grevillea juniperina adapts easily to cultivation and grows in a wide range of soils and aspects in locations with good drainage.

His first trials involved crossing G. juniperina with G. victoriae, producing G. 'Poorinda Queen', which was the first to flower, followed by G. 'Poorinda Constance', G. 'Poorinda Leane' and G. 'Poorinda Pink Coral' respectively, all in 1952.