Cheiridopsis denticulata is a small, succulent shrublet that spreads.

The leaves grow in erect, similar pairs. Only a couple of pairs grow from each of the many ground-level branches. The leaves are grey-blue in colour with their surfaces slightly wrinkled during dry seasons. Leaves are triangular in cross-section. Leaf keels taper to the side, convexly or concavely, with tiny spines at their tips.

The flowers are cream, white or yellow, often with an orange or purplish tinge on the outer parts of the petals.

The plant grows in the arid western part of the Northern Cape, mainly Namaqualand and the Richtersveld (Manning, 2009).