The psoas minor is a long, slim skeletal muscle lying anterior to the psoas major muscle. The psoas minor, along with the iliopsoas, also belongs to the anterior group of the pelvic muscles.

Origin: the lateral surface of the twelfth thoracic (T12) and first lumbar (L1) vertebrae.

Insertion: the iliopubic eminence.

Action: stabilizes the pelvis and the hip joint, aids in flexion of the trunk.

Innervation: the psoas minor is innervated by the muscular branches of the lumbar plexus.