Commipora kaokoensis W.Swanepoel. here described as a new species, is known only from the Kaokoveld Centre of Endemism, an arid region in northwestern Namibia. Illustrations of the plant and a distribution map are provided. Diagnostic characters include the petiolate or subsessile. all-simple and relatively large leaves with the lamina obovate or elliptic. New information is provided on the leaf morphology and geographical distribution of C. namaensis Schinz and C. dinteri Engl., species with which the new species shares some similarities. When without leaves or fruit, the three species can easily be confused. A comprehensive table with diagnostic morphological features to distinguish between the three species is presented. Keywords: Burseraceae, Commiphora Jacq., endemism, Kaokoveld, morphology, Namibia, new species, taxonomy.