Mirbelia stipitata is a species of flowering plant in the family Fabaceae and is endemic to inland areas of Western Australia.

Mirbelia stipitata is a shrub that typically grows to a height of 60 cm (24 in) and is more or less glabrous, its branchlets spiny.

The sepals are 4–5 mm (0.16–0.20 in) long and joined at the base, the upper two lobes forming a "lip".

[2][3] Mirbelia stipitata was first formally described in 1987 by Michael Crisp and Joan M. Taylor in the Journal of the Adelaide Botanic Gardens from specimens collected by Paul Graham Wilson near Laverton in 1968.

[2][3] Mirbelia stipitata is listed as "Priority Three" by the Government of Western Australia Department of Biodiversity, Conservation and Attractions,[3] meaning that it is poorly known and known from only a few locations but is not under imminent threat.