Medicosma heterophylla is a species of small tree in the family Rutaceae and is endemic to a restricted area of far north Queensland.

It has simple and trifoliate, elliptical leaves and leaflets, and cream-coloured to pink or reddish flowers borne singly or in small groups in leaf axils.

Flowering occurs from February to July and the fruit is a follicle 4.5–5 mm (0.18–0.20 in) long.

[2][3] Medicosma heterophylla was first formally described in 1985 by Thomas Gordon Hartley in the Australian Journal of Botany from specimens collected by Paul Irwin Forster in 1994 on the track to Pinnacle Rock near Karnak (near Mossman).

[2][3] This species is classified as of "least concern" under the Queensland Government Nature Conservation Act 1992.