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

It is a woolly, spreading shrub with its leaves arranged in four rows and off-white, bell-like flowers with dark purple streaks.

[2] The flowers are arranged singly in upper leaf axils with leaf-like bracts and leafy, narrow lance-shaped bracteoles 3–7 mm (0.1–0.3 in) long at their base.

The sepals are joined for about half their length to form a bell-shaped tube with five lance-shaped, slightly hairy lobes 5–7 mm (0.2–0.3 in) long.

[2][3] Pityrodia lanuginosa was first formally described in 1979 by Ahmad Abid Munir from a specimen collected near El Sharana in Arnhem Land.