Pultenaea lapidosa is an erect to low-lying shrub that typically grows to a height of and has sparsely hairy youngstems. The leaves are linear to narrow elliptic, long and wide on a petiole long with dark-colured stipules long at the base. The flowers are usually arranged in leafy racemes of ten to twenty-five on the ends of branches. The sepals are long and glabrous with hairy, three-lobed bracteoles long at the base of the sepal tube. The standard petal is yellow to orange with reddish markings, the wings yellow to orange and the keel dark red. Flowering occurs from November to December and the fruit is an ovalpod long.