Goodenia stephensonii is an erect, more or less woody herb that typically grows to a height of up to . The leaves on the stems are linear to oblong, long and about wide, sometimes with teeth on the edges. The flowers are arranged in racemes up to long on a peduncle long with leaf-like bracts and linear bracteoles long. The sepals are linear to lance-shaped, about long, the corolla yellow and pouched, long. The lower lobes of the corolla are long with wings about wide. Flowering occurs from October to January.
