Swainsona plagiotropis is a prostrate or ascending perennial
herb, that typically grows to a height of up to and sometimes has hairy stems. Its leaves are imparipinnate, mostly long with 13 to 25 narrowly elliptic or narrowly egg-shaped leaflets with the narrower end towards the base, the side leaflets long and wide with broadly egg-shaped
stipules mostly long at the base of the
petioles. The flowers are reddish-purple, arranged in racemes of 2 to 5, the flowers long, on a hairy
pedicel about long. The
sepals are joined at the base to form a tube about long, with lobes longer than the tube. The
standard petal is long and wide, the
wings about long and the
keel about long and deep. Flowering occurs from August to November, and the fruit is an oval to oblong
pod long and long, with the remains of the strongly curved
style long. ==Taxonomy and naming==