Although the phylogeographic relationships of Australian agamids are well-understood, an important lineage has been conspicuously missing from all phylogenies of this group to date: the mysterious and monotypic Cryptagama aurita (Storr, 1981). Prior to this study, C. aurita was known from only four specimens, all collected in the 1990s before tissue sampling for genetic analyses became standard practice. From 2011–2023, over 60 individuals were observed and photographed across five sites in the remote central Kimberley: 24 of these were also tissue-sampled and 6 individuals were collected from one site for museum specimens. Detailed morphometric measurements were recorded for the 6 specimens and a released individual. Using these data we confirm the central Kimberley specimens and observed individuals are C. aurita, more than tripling the estimated extent of occurrence for this elusive species. The central Kimberley discoveries have provided significant insight into the distribution and ecology of C. aurita and completed the phylogeny of Australian agamids. Using tissue samples of C. aurita we provide the first complete multi-gene genus-level phylogeny of Australian dragon lizards and discover that the formerly monotypic C. aurita is nested within Ctenophorus. For this reason we provide an expanded description of this species as Ctenophorus aurita and a suggested common name of 'hidden dragon'.