Goodenia stirlingii is an erect undershrub that typically grows to a height of up to and has glabrous foliage. The leaves are sessile, narrow elliptic, long and wide, with toothededges. The flowers are arranged in racemes up to long on a peduncle up to long with leaf-like bracts and linear bracteoles about long. The sepals are lance-shaped, long, the corolla yellow and about long. The lowerlobes of the corolla are long with wings wide. Flowering mainly occurs from March to July.