A young man in a vivid red robe stands at the center right, grasping a combat helmet and turning to face a group of women who react with surprise and agitation. The women, dressed in flowing gowns of white, gold, and blue, cluster together on the left and center, their gestures animated as they reach out or recoil, their faces filled with astonishment and alarm. At the young man's feet, a small dog barks, its body tense and alert, while one of the women kneels beside a basket that spills with jewelry and textiles.

Two men stand at the far right, one with a turban and the other in dark clothing, both watching intently as the scene unfolds, their postures tense and expectant. Architectural elements frame the scene, with grand columns, a sculpted female figure on the left, and a balustrade opening onto a blue sky and distant sea. Putti and garlands decorate the upper edge, their rosy bodies and playful gestures adding a festive note above the drama below.

Light pours in from the right, illuminating the faces and fabrics, casting rich shadows and highlighting the sheen of silk and the gleam of metal. The color scheme is dominated by warm reds, golds, and creams, set off by cooler blues and greens in the background and drapery. Rubens uses energetic, visible brushstrokes to model flesh and fabric, with thick, creamy paint giving texture to the folds of the garments and the marble of the architecture. The composition is tightly packed, with overlapping figures guiding the viewer's gaze in a sweeping arc from left to right, while small details—a fallen mask, a shield, a basket of trinkets—enrich the narrative.

Achilles discovered Among the Daughters of Lycomedes is painted by Peter Paul Rubens between 1630 and 1635. The Museo del Prado lists this work as part of its collection, identifying it as a mythological painting by Rubens.