A last-gasp try to Rob Horne and another high pressure conversion from five-eighth Bernard Foley broke a three-Test losing streak to South Africa and handed the Wallabies back their credibility with the game-changing work of Kurtley Beale doing the trick in Perth on Saturday. 

The benched Waratahs playmaker, launched into the game with seven minutes to go and a six-point deficit to bridge, snapped Australia's error-ridden stupor at Patersons Stadium and set in motion Horne's match-winning try in the 78th minute. 

Until then the Wallabies looked set to slump to a second consecutive defeat in the Rugby Championship after the boot of Morne Steyn racked up 18 points on top of rookie winger Cornal Hendricks' try put the Springboks out to a 23-14 lead at one point. 

It was a long time between drinks for the 25,718-strong crowd who braved horizontal rain and a vicious wind in the West Australian capital.

The Wallabies first try came two minutes in, Foley controlling a direct raid on the Springboks' half and Folau using every ounce of his athleticism to put the ball over in the second minute. 

Foley's conversion sailed wide, leaving the Wallabies 5-0 up.

The Springboks hit back with a gift penalty goal in the seventh minute, Steyn easily slotting the kick to make it 5-3. 

Hendricks scored in the 13th minute after Horne was lured in off his wing to leave his opponent in wide open space. 

Steyn missed the conversion and Australia levelled in the 17th minute with a penalty goal from Foley. 

The Australian scrum was strong in the first half but the Wallabies coughed up another two penalties in their half to hand South Africa a gift six points in the space of four minutes. 

Foley made it 14-11 after Springboks No.8 Duane Vermeulen's huge hit on James Slipper was ruled high and dangerous in the 28th minute. 

The Wallabies went close in the 33rd minute with a clever grubber from Foley, but the hand of Springboks fullback Willie Le Roux spoiled the party just as Adam Ashley-Cooper pounced on the ball in the corner. 

The Wallabies ruined a few of their own chances at the back end of the half with silly mistakes. Rob Simmons conceded a penalty at line out, taking Matfield out in the air, and Nick Phipps knocked on his own ball at the ruck in the last solid attacking chance Australia had. 

They survived a Springboks' attacking raid in their half to go in to the sheds trailing 14-11. 

Foley levelled early on in the second half but it was one-way traffic after that, Steyn booting the visitors to a 23-14 lead by the 63rd minute. 

Australia added another three points to close the gap to 23-17 with 11 minutes to go and they threw everything at it as time ticked down.

They were given a helping hand when Test centurion Bryan Habana was shown a yellow card for a high tackle on Adam Ashley-Cooper but Rob Simmons was penalised at the ruck, cruelling the Wallabies' chances as Pek Cowan bowled over the try line.

Foley narrowed the gap to six points in the 69th minute and Beale replaced Matt Toomua with seven minutes left. 

He made an immediate difference.

Epic South African defence looked certain to deny the Wallabies a last-gasp victory but a magic inside ball from Beale to Folau put the wheels in motion and Rob Horne ran hard to score. Foley converted from 23 metres out and 10 metres in from the side line to give Australia the lead and a snatched victory with a minute to go. 

It was their first victory against South Africa under Ewen McKenzie and sets up a thrilling re-match in Cape Town in three weeks' time.