An adjoint fermion transforms in exactly the same way as an adjoint boson (like the gluon). We can write an adjoint fermion as a matrix valued field
$$
\psi_{ab} = \psi^A (T^A)_{ab}
$$
where $T^A=\frac{1}{2}\lambda^A$ are the $SU(N)$ generators. The Dirac operator acts as a covariant derivative in the adjoint representation
$$
(D_\mu \psi)^A = (\partial_\mu \delta^{AB}+igf^{ACB}A^C_\mu)\psi^B
$$
just like it acts on gluons.