Zieria veronicea is a lemon-scented shrub which grows to a height of . Most parts of the plants are densely covered with star-like hairs making its surfaces velvety. Unlike most other zierias, this species has simple, rather than clover-like leaves. The leaves are long and wide with the upper surface light green and the lower one greyish green. The edges of the leaves turn down or are rolled under. The
petiole is less than long. The flowers are arranged singly or in groups of three in leaf axils, the groups shorter than the leaves. The four
sepals are narrow lance-shaped, long, pointed and densely velvety-hairy. The four petals are pink, sometimes white, and overlap each other in the bud stage. There are four stamens. ==Taxonomy and naming==