Lasiopetalum joyceae is an erect shrub that typically grows to a height of up to and has wand-like branches. The leaves are linear, long and less than wide with the edges rolled under, and whitish to rust-coloured hairs on the lower surface. The flowers are arranged in clusters of three of four with bracteoles long and about wide near the base of the sepals. The sepals are pinkish to reddish-brown with woolly hairs on the back, and there are no petals. Flowering occurs in spring.