A sleeping female figure reclines at the center, her body draped in a blue cloth and adorned with a garland of flowers in her hair. Her right arm is bent behind her head, while her left hand rests loosely on the small child who lies beside her, nestled against her side. The child, depicted with small wings, golden curls, and a chubby form, reaches up toward the woman's chest, suggesting the mythological identity of Venus and Cupid.

To the left, two satyrs crouch and peer intently at the sleeping pair; one leans forward on all fours, his face turned upward, while the other, standing, grins and gestures with a raised hand. A rich red drapery is suspended above the group, its folds creating a dramatic canopy that frames the scene and casts deep shadows. The figures are set against a wooded landscape, with glimpses of foliage and tree trunks visible in the background, and a patch of blue sky opening at the upper left.

Light falls from the left, illuminating Venus’s pale skin and highlighting the curves of her body, while the satyrs’ muscular forms are rendered in warmer, earthier tones. The artist uses fluid, expressive brushwork to model flesh and fabric, with delicate transitions of color in the skin and more textured, broken strokes in the background and drapery. Small details, such as the red sandal on Venus’s left foot and the intricate flowers in her hair, are painted with precision, contrasting with the looser treatment of the landscape. Sleeping Venus with Cupid Watched by Satyrs is attributed to Peter Paul Rubens, whose name appears in the museum’s records.

The painting’s subject is mythological, featuring Venus and Cupid observed by satyrs, a theme identified in both the title and collection description. The work dates from between 1592 and 1640, as indicated by the museum's documentation.