The camel thorn ranges from a 2 m spiny shrub to a 16 m robust tree. The stem is shiny reddish brown when young. The bark of a mature tree is grey to blackish brown and is deeply furrowed; bearing pairs of almost straight, whitish or brown spines. Spines often have swollen bases and appear at the bases of the leaves. The fully developed spines may be up to 60 mm long. The leaves are twice divided. There are normally 2 to 5 pairs of pinnae per leaf and 8 to 18 pairs of leaflets (pinnules) per pinna. They are hairless and have a prominent underside vein on the undersurface.

The tree bears bright yellow ball-like flowers that are sweetly scented. They are borne in late winter and last through to summer.

The fruit is variable and ranges from small and almost cylindrical to typically large, flat, thick, semicircular or half-moon-shaped pods. They are up to 130 mm long and 50 mm wide and are covered by velvety grey hairs. They are semi-woody, but spongy inside; the pods do not open even when ripe but fall to the ground in winter. Seeds are thick, robust and lens-shaped.