Grevillea leptopoda was first formally described in 1986 by Donald McGillivray in his New Names in Grevillea (Proteaceae) from specimens collected near the Brand Highway north of Carnamah in 1953.
In 1986, Donald McGillivray formally described Grevillea leptopoda in his work "New Names in Grevillea" based on specimens gathered near the Brand Highway north of Carnamah in 1953.