Named after the country where it was first found, it was first described in 2018 by Dmitri Logunov and Galina Azarkina.

The male has a bulging palpal bulb while the female has a flat epigyne with widely separated and backward-facing copulatory openings.

It is similar to Stenaelurillus nigricaudus, also found in the country, but can be distinguished by the design of its long straight embolus and the lack of pockets in the epigyne.

[4] Two years later, in 2017, it was grouped with nine other genera of jumping spiders under the name Aelurillines.

The abdomen has a pattern consisting of four yellow spots and a wide hairy brown stripe.

It has short and wide insemination ducts and large round spermathecae.

Stenaelurillus senegalensis has a long straight embolus and lacks the pocket in the epigyne of the other species.

[1] The holotype was identified based on a specimen collected near Richard Toll in 1991.