It is a small, prostrate, mat-forming shrub with hairy young stems, egg-shaped leaves with the narrower end towards the base, and densely hairy clusters of tube-shaped flowers surrounded by conspicuous, whitish floral leaves.

Stenanthemum pimeleoides is a prostrate, mat-forming shrub that has branches 15–30 cm (5.9–11.8 in), its young stems covered with shaggy, rust-coloured or greyish hairs.

There are narrowly triangular stipules 2.5–7 mm (0.098–0.276 in) long fused at the base and often sheathing the stem.

Flowering occurs from December to February, and the fruit is a schizocarp 2.0–2.5 mm (0.079–0.098 in) long.

[2][3][4][5][6] This species was first formally described in 1844 by Joseph Dalton Hooker who gave it the name Cryptandra pimeleoides in his Flora Antarctica from specimens collected by James Backhouse.