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Heterodontus marshallae is a small species of hornshark, reaching a maximum length of about 60 cm. It has a robust body, a blunt head with prominent crests above the eyes, and a small mouth. It has two dorsal fins, each with a long spine in front, and an anal fin that is well separated from the caudal fin. The caudal fin has a prominent lower lobe and a large terminal lobe. The pectoral and pelvic fins are large and triangular.
The most distinctive feature of Heterodontus marshallae is its color pattern, which consists of 22 dark brown bands and saddles on a light greyish brown background.