Cleome foliosa is an annual (occasionally perennial) herb that grows to 1.2m. The stems are striate and sometimes sparsely hairy.  The leaves are compoundly palmate with three to five leaflets and smaller, leaf-like stipules at the base of the petioles. The leaves become progressivley smaller along the stem.

The plant has striking yellow flowers which fade to a reddish colour and yellow or yellow and lilac filaments. As in other species of Cleome, C. foliosa  has exceedingly long seed capsules and these develop below the flowers as bloom progresses up the flowering stems. The capsules are linear, slightly curved, and striped with longitudinal ridges. The flowering season is variable and seems to be rainfall dependent. Three varieties of this species are recognised.

Variety foliosa grows to 1.2m and has compound palmate leaves with five to seven leaflets and petals up to 25mm. Variety lutea grows to 0.5-1.0m and has compound palmate leaves with three to five leaflets,  10-20mm petals and spreading capsules.  Variety namibensis grows to 200-500mm, has compound palmate leaves with three leaflets, 10-15mm petals and hold its capsules upright.