Prostanthera saxicola is a prostrate to erect, spreading to compact shrub that typically grows to a height of 0.2–2 m (7.9 in – 6 ft 6.7 in) and sometimes has branches covered with white hairs flattened against the stem and more or less sessile glands.

[2][3] Prostanthera saxicola was first formally described in 1810 by Robert Brown in his treatise Prodromus Florae Novae Hollandiae et Insulae Van Diemen.

[4][5] Four varieties have been described, the names accepted by the Australian Plant Census: This mintbush is widely distributed from south-eastern Queensland, through eastern New South Wales and in scattered places in Victoria.

Variety bracteolata, commonly known as slender mint-bush, is found in south-eastern Queensland and from the Pilliga forest to the Kanangra-Boyd National Park in New South Wales.

[3][7] Variety major grows in heath in south-eastern Queensland and the Gibraltar Range National Park in New South Wales.