Dillwynia stipulifera is an erect to spreading shrub that typically grows to a height of with silky-hairy stems. The leaves are linear, long with stipules long. The flowers are arranged in pairs in leaf axils near the ends of branchlets, forming a spherical cluster. There are bracts and bracteoles long and the sepals are long. The standard petal is yellow with red markings, long but broader than long.