Zieria lasiocaulis was first formally described in 2002 by Jim Armstrong and the description was published in Australian Systematic Botany from a specimen collected on Mount Banda Banda. According to Armstrong, the specific epithet (lasiocaulis) is derived from Greek lasio meaning hairy and caulis, meaning stem, referring to the long, simple hairs on the younger branches. The ancient Greek word for hairy is lasios (λάσιος) and the word for stem is kaulos (καυλός). Caulis is the Latin word for stem.