It is a shrub with hairy branches, leaves composed of three leaflets and usually only single white to pale pink flowers in the leaf axils.

Zieria pilosa is a shrub which grows to a height of 1 m (3 ft) and has smooth, hairy branches which become glabrous as they age.

The flowers are white to pale pink and are usually arranged singly in leaf axils and are shorter than the leaves.

[1] Zieria pilosa was first formally described in 1811 by Edward Rudge and the description was published in Transactions of the Linnean Society of London.

[4] This zieria grows in forest and heath in coastal and near-coastal districts between Taree and Eden.