P. ciliata can be distinguished from other closely related mantis shrimps by several characteristics; the eye is cylindrical with a hemispherical
cornea; the
rostral plate lacks a small spine at the front; the
carapace does not bear large black spots; the
telson has three keel-like ridges on either side of a central ridge; and the base of each
uropod terminates in two slender flattened spines, the innermost of which is the shorter. The colour of
P. ciliata varies greatly depending on an individual's environment; for example,
P. ciliata living in a
sea grass flat will often turn green, while one living in
coralline algae will often turn red.
P. ciliata may reach a total length of . ==Distribution and habitat==