Physaria rectipes is typical of many other members of this genus, forming small clusters of four-petaled yellow flowers, borne at the ends of sparsely-leafed, reddish-green stems - typically 4 to 8 - that branch from the base of the plant. Stems tend to lie along the ground or rise at a low angle. Most leaves are basal, oblanceolate in shape, growing in a rosette; stem leaves are more spatulate, smaller, and fewer in number. Leaves, stems and buds have a rough surface, due to a covering of short, branched hairs - the hairs are split into 4 to 6 branches, each partly divided.
Flowers are formed of four elliptic sepals, and four larger, obovate petals, somewhat narrower (clawed) at the base. The stamens and pistil are also yellow.