Pityrodia gilruthiana is a flowering plant in the mint family Lamiaceae and is endemic to Arnhem Land in the Northern Territory.

It is a dark green, spreading shrub with sticky, glandular branches and leaves and fragrant, off-white, bell-like flowers with purple stripes on the end.

[2] The flowers are fragrant and stalkless, arranged singly in upper leaf axils with a leaf-like bract and leafy, narrow linear to lance-shaped sticky bracteoles 3–6 mm (0.1–0.2 in) long at their base.

The outer, top part of the tube has soft hairs but the rest is mostly glabrous apart from a dense hairy ring below the stamens.

[2][3] Pityrodia gilruthiana was first formally described in 1979 by Ahmad Abid Munir from a specimen collected near the Mount Gilruth in the Northern Territory.