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

It has mostly trifoliate leaves with elliptical to egg-shaped leaflets and white flowers borne in small groups in leaf axils.

Flowering has been observed in November and the fruit is a glabrous follicle 7.5–8 mm (0.30–0.31 in) long.

[2][3] Medicosma mulgraveana was first formally described in 1985 by Thomas Gordon Hartley in the Australian Journal of Botany from specimens collected near the East Mulgrave River in 1975.

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