Grevillea acacioides is an erect, multi-branched shrub that typically grows to a height of. Its leaves are cylindrical, mostly long and wide with a sharply pointed tip. The flowers are arranged in erect groups on a flowering stem less than long at the end of branches and in leaf axils, the perianth greenish-white to cream-coloured and bearded inside and the pistil long. Flowering mainly occurs from July to September and the fruit is a glabrous follicle mostly long.