Psoralea pilifera, synonym Otholobium piliferum,[1] is a small, softly hairy shrublet of up to 30 cm (12 in) high that has been assigned to the Pea family, with branches horizontal at the base with rising tips.

It has many slender, striped stems of up to 30 cm (12 in) long that are covered in soft hairs that are pressed against the bark.

The tip of the leaflets is pointy with the middle vein extending from the leaf blade into a straight hair-thin point, while the base is wedge-shaped.

[2] The flowers are grouped with three together on a stalk (or peduncle) of 4 mm (0.16 in) long, predominantly in the leaf axils on upper two thirds of new growth and are subtended by an oblong to oval, irregularly toothed, fan-shaped yellowish bract of about 3 mm (0.12 in) long.

The calyx is longer than the corolla at 8–10 mm (0.31–0.39 in) and is merged at its base in a tube of about 3 mm (0.12 in) long and extends into five free, unequal teeth with pointy tips, weak ribs, silky hairy along the margin and fine glands, mostly on the tube.

The upper petal, called the banner or standard, is elliptic, 9–10 mm (0.35–0.39 in) long, with a blunt tip and it narrows down to two lobes facing the base, and extending down between the lobes into a narrow part called claw of about 2 mm (0.079 in) long.

[2] Psoralea pilifera is strongly reminiscent of P. bolusii, which is also about 30 cm high, has leaves consisting of 3 unequal leaflets, those at the sides asymmetrical, and stipules that are silky or fringed with hairs, but this species has a distribution far to the west.

Charles Stirton and A. Muthama Muasya considered it sufficiently different from its relatives, described it in 2017, and called it Otholobium piliferum.