Eriosema latifolium is an erect to sprawling perennial herb that grows about 400 mm up to 1 m in height. Stems arise from a woody base and are covered in short, rusty to whitish hairs. The plant commonly produces up to 10 velvety stems, typically branching from the lower nodes. Leaves are trifoliolate, with three, short-stalked leaflets. Terminal leaflets are large, about 50–75 × 35–45 mm, oval at base and sword-shaped upwards; side leaflets are smaller, 45–60 × 20–30 mm. The upper surface is dull greenish and sparsely hairy, the lower surface is densely woolly, grey to white, with veins prominent because of the dense covering of longer appressed hairs. The leaflets have small glands underneath which are covered by the dense hairs. Stipules are 8–9 mm long. Inflorescence is a raceme, up to about 22 mm long, made up of 30–45 flowers and held well above the leaves on a peduncle 30–75 mm long. Flowers are small, 10–11 mm long and yellow, with wing petals longer than the keel. Flowering time is in early summer (Nov.–Dec.). Fruit is a pod, 11–15 × 8–10 mm, covered in fine soft hairs. Seeds are grey or light brown, with darker marks or spots.

This species is frequently confused with, E. dregei, and E. luteopetalum. It differs from these two species in its significantly smaller flowers, shorter stipules, and its narrowly oblong flower clusters. According to Stirton, this species has pollen grains of varied sizes, which strongly implies that it could be of hybrid origin. It is noteworthy that this species is observed as dispersed individuals or small clusters, and that the few fruits that have been discovered contained only dried-up seeds.