This species was first formally described in 1889 by Ferdinand von Mueller who gave it the name Chloanthes teckiana and published the description in the Victorian Naturalist. The type specimen was collected by John Forrest. In 1904, Georg August Pritzel changed the name to Pityrodia teckiana and in 2011, Barry Conn, Murray Henwood and Nicola Streiber changed it to Dasymalla teckiana. The specific epithet (teckiana) honours Francis, Duke of Teck.
