Verrucapelma retusa is a scale worm known from northern Australia, the Timor Sea and the Coral Sea from shallow water to depths of about 20 m.[2] Verrucapelma retusa is a short-bodied worm with 35–36 segments and 15 pairs of elytra which bear a marginal fringe of papillae.

The dorsum is covered with bands of brown-grey, which becomes fainter posteriorly.

Lateral antennae are positioned beneath (ventral) on the prostomium.

the notochaetae are about as thick as the neurochaetae.

Neurochaetae with bidentate tips are also present.