The original description of V. kingorum as a species new to science was published in 1980, the result of a revision of Western and Central Australian varanid taxa.

[7] It is usually found in areas with rock exfoliations or slopes with open bushland and shrubs, where boulders and outcrops provide its required microhabitat.

[7] It is reddish brown in colour with a black reticulum in the juvenile that breaks down with age to form dark flecks.

[5] Small blackish spots appear at most parts of the dark upper body, and at the throat and near the vent against the creamy colour of the underparts.

[3] Kings' monitor retreats into holes, rock fissures, and small crevices when it is approached, being extremely shy.