Swainsona vestita is an erect or ascending perennial plant that typically grows to a height of up to about , and has many strongly ridged stems. Its leaves are imparipinnate, about long with about 7 narrowly lance-shaped leaflets, the side leaflets mostly long, wide and hairy. There is a
stipule mostly about long at the base of the petiole. The flowers are arranged in racemes long with 5 to 20 flowers on a
peduncle wide, each flower about long on a hairy
pedicel about long. The
sepals are joined at the base, forming a tube long, the sepal lobes about as slightly longer than the tube. The petals are purple, the
standard petal long and wide, the
wings long, and the
keel about long and about deep. ==Taxonomy and naming==