Penstemon palmeri, Palmerβs penstemon, grows erect and may reach 2 metres (6.6 ft) height. The leaves are generally oppositely arranged and have toothed margins. The inflorescence is a panicle or raceme with small bracts.
The flower has a five-lobed calyx of sepals and a cylindrical corolla which may have an expanded throat. The staminode is partially hairy. The showy, rounded flower has large pink to violet to blue-purple petals and is fragrant, which distinguishes it from other, similar-looking penstemon. Occasional specimens are red, yellow, or white flowered.