Cheiridopsis denticulata is a small, perennial, spreading succulent plant that grows in the arid western part of the Northern Cape, i.e. Namaqualand and the Richtersveld. The leaves are opposite with one or two, sometimes three, erect pairs of leaves on many ground-level branches. Often the leaf pairs are dissimilar or unequal and connate (fused) in various ways. The leaves are grey-blue with a slightly wrinkled surface, more so in dry conditions. They are triangular in cross section and the keel tapers to the inside with a tiny spine at the tip. The flowers have four or five sepals and many stamens. The petals are numerous and usually yellow, orange or white, occasionally violet to red in colour.