Cucumaria piperata is similar in body form to Cucumaria miniata, but smaller (up to 12 cm long). It is creamy white, or slightly yellowish, with a variable number of black or dark brown spots. The spots may cover the body, but are concentrated at the anterior end and on the 10 equal-sized tentacles. The body has five double rows of retractile tube feet, and the skin is smooth.
Skin ossicles: tapered perforated plates with spiny margins.
Similar SpeciesCucumaria piperata may be confused with Pseudocnus lubricus. One form of P. lubricus is yellowish white, with fine peppery spots on the dorsal side, and is shorter than 5 cm. Formerly, the speckled form of P. lubricus was identified as Cucumaria fisheri astigmata or Pseudocnus astigmatus; but these names are synonymous with Pseudocnus lubricus - formerly Cucumaria lubrica (Arndt et al. 1996).