The Springboks produced a remarkable late fightback but ran out of time as Australia held on for a dramatic 42-38 victory in Perth on Sunday.
South Africa looked out of the contest after the Wallabies raced into a 42-17 lead after 63 minutes, with Australia capitalising on Bok errors and indiscipline.
But the match changed dramatically in the final stages.
A series of yellow cards left Australia severely depleted, at one stage reducing the hosts to 11 players. The Springboks took full advantage, scoring three late tries to cut the deficit to just four points.
Despite the remarkable surge, the Wallabies survived the final exchanges to secure the win and reclaim the Mandela Challenge Plate.
Springbok captain André Esterhuizen admitted that South Africa had made the task unnecessarily difficult, saying poor discipline and errors had allowed Australia to take control.
Rassie Erasmus also accepted responsibility for the defeat, saying the Springboks had themselves to blame after falling 25 points behind.
The defeat came after Erasmus made 13 changes to the starting team that beat New Zealand in Baltimore, giving several players an opportunity to stake their claim.
Despite the loss, the extraordinary comeback demonstrated South Africa’s ability to keep fighting until the final whistle. However, the Wallabies ultimately held their nerve to complete a memorable victory on home soil.
The result also saw the Springboks’ lead at the top of the World Rugby rankings reduced, although South Africa remained number one.