Kennedia stirlingii is a trailing or twining shrub that typically grows to a height of 0.1–1 m (3.9 in – 3 ft 3.4 in) wide and has glabrous stems.

Flowering occurs from August to November and the fruit is a hairy, flattened pod 20–30 mm (0.79–1.18 in) long.

[3] Kennedia stirlingii was first formally described in 1844 by John Lindley in Edwards's Botanical Register.

[5] Bushy kennedia grows on granite outcrop, hillsides and moist areas in the Avon Wheatbelt, Jarrah Forest and Swan Coastal Plain biogeographic regions in south-western Western Australia.

[3] Kennedia stirlingii is listed as "not threatened" under the Western Australian Biodiversity Conservation Act 2016.