Hakea undulata is an erect and often straggly shrub, growing to between 1–2 m (3–7 ft) high and does not form a lignotuber.

The single inflorescence consist of 12-21 sweetly scented cream-white flowers in a raceme on smooth pedicel.

[2][3][4] Hakea undulata was first formally described by botanist Robert Brown in Transactions of the Linnean Society of London in 1810.

[3] Wavy-leaved hakea grows from the Darling Ranges north of Perth and south to Albany.

This species grows in scrubland and woodland in sand, loam and gravel or with a clay soil over laterite, sometimes on granite.