Xanthosia ciliata is a low, spreading shrub that typically grows to a height of, its leaves linear to wedge-shaped. The inflorescence is arranged in leaf axils or on the ends of branches and is usually a small, compound umbel with four short rays. Each partial umbel is subtended by a leaf-like, softly-hairy involucral bract less than long. The sepals are tapering heart-shaped and the petals are yellowish-green to cream-coloured or white. Flowering occurs from October to December or January.