Dendrobium racemosum, commonly known as the erect pencil orchid, is a species of orchid endemic to tropical North Queensland. It is an epiphytic or lithophytic orchid with yellowish stems, cylindrical dark green leaves and flowering stems with between eight and fifteen cream-coloured to pale yellow flowers with a thread-like tip on the labellum. It grows on trees and rocks in exposed positions in highland areas and in the tops of rainforest trees at lower altitudes.