Parastichopus regalis grows to a length of about . The body is soft and somewhat flattened, and a clearly incised lateral fold with large papillae separates the dorsal surface from the ventral surface. The dorsal surface is mottled brown, and the ventral surface is rather paler, with a darker longitudinal streak in the centre. The bony
sclerites that strengthen the integument include tables, terminal plates and perforated plates; the sclerites in the
tentacles that surround the mouth include elongated, branched, perforated and arched rods. ==Distribution and habitat==