Andersonia auriculata is an erect or spreading shrub that typically grows to a height of. Its leaves are spreading, twisted lance-shaped, long and wide. The bracteoles on the higher flowers are sepal-like and sometimes longer than the sepals. The sepals are lance-shaped, long and greenish white. The petals are shorter than the sepals, white or blue with lobes about twice as long as the petal tube. The stamens are half as long as the petals with anthers about long.
This species of Andersonia grows in sandy in swampy areas or granite outcrops in the Jarrah Forest and Warren bioregions of southern Western Australia.