Yalarnnga is a language from Dajarra and country to its east, in far western Queensland. This grammar presents all that could be learnt by the authors from their work with the last three aged speakers, two of whom spoke it only as a second language. Typologically Yalarnnga is a fairly typical Pama-Nyungan language. It makes an interesting comparison with its northern neighbour, Kalkutungu, with which it shares some lexical and grammatical features, but not some distinctive sound changes that are reflected in that language.