Pseudotrisauropus subengensis was named by Ellenberger (1970). It is considered to be a form taxon. It is a trace fossil. Its type locality is Seobeng tracksite (zone A/4), which is in a Sinemurian terrestrial sandstone in the Clarens Formation of Lesotho. It is the type species of Psilotrisauropus.

It was recombined as Psilotrisauropus subengensis by Ellenberger (1972), Ellenberger (1974); it was considered a nomen dubium by Klein and Lucas (2021).