Swainsona kingii is a prostrate or ascending annual or perennial herb, that typically grows to a height of about and has many stems. The leaves are imparipinnate, mostly long with usually 5 egg-shaped leaflets with the narrower end towards the base, long and wide with
stipules long at the base of the
petioles. The flowers are pink to purple, arranged in racemes of 1 to 3 long, on a
peduncle up to long. The
sepals are joined at the base to form a tube long, with lobes shorter than the tube. The
standard petal is long and almost as wide, the
wings long and the
keel long and about deep. Flowering occurs from May to October, and the fruit is a narrowly elliptic
pod long on a stalk about long, with the remains of the strongly curved
style long. ==Taxonomy and naming==