Grevillea epicroca is a shrub species that is endemic to south-eastern New South Wales in Australia. It grows up to 2.5 metres high and produces clusters of red flowers between November and May in the species native range. It was first formally described by Val Stajsic and Bill Molyneux, their description published in Flora of Australia in 2000. The species occurs on rocky escarpments in moist forest to the west of Moruya, New South Wales.