Cucumaria pseudocurata is a small species with a length averaging between 1.5cm and 3cm. Their dorsal side ranges from brownish black to light brown to yellowish gray, while the ventral side varies from brown to white. Five bands of tube feet can be found in single or zig-zag rows, with the three ventral rows being more robust. C. pseudocurata has 8 equal-sized tentacles, and 2 smaller ventral ones. The tips of the tentacles generally have the darkest pigment. Between two of the dorsal tentacles can be found the genital papilla. The skin ossicles of this particular species are typically oval perforated plates.

This small cucumber can be found intertidally among the Mytillus Californianus (mussel beds) on the Western side of the main island.
See also the Black Brooding Sea cucumber, one of similar size but a darker color and a subtidal habitat