The yellow-footed rock wallaby is a small, richly coloured wallaby. It is the largest of the 23 described forms of the rock wallaby genus Petrogale. Adult males and females weigh an average 8 and 6 kg respectively, with occasional males weighing over 11 kg. The yellow-footed rock wallaby is one of the most brightly coloured of all Australian mammals and is readily identified by its colouring and patterning. It has a thick, grey-coloured coat with a dark mid-dorsal stripe and white cheek, flank and hip stripes. Its chest and belly are light-coloured and its limbs and ears are a rich golden colour. The tail is long, cylindrical, blunt ended, and characteristically banded dark brown and golden-brown.