Australia record 24-20 win over South Africa thanks to last-gasp Tevita Kuridrani try

Tevita Kuridrani of the Wallabies celebrates scoring the winning try with team mate Israel Folau

Tevita Kuridrani scored a last-gasp try to give Australia a 24-20 win over South Africa in the Rugby Championship clash in Brisbane.

Tevita Kuridrani scored a last-gasp try to give Australia a 24-20 win over South Africa in the Rugby Championship clash in Brisbane.

South Africa looked to be cruising to victory being 20-10 up with 20 minutes to go and were dominating the set-pieces and the tackle area. However, Australia produced a remarkable comeback finishing with Kuridrani's try.

The centre crashed over the line in a scrum of bodies after the hooter had sounded and the television match official adjudged he had grounded the ball.

The Springboks had looked like securing a victory on the back of a brilliant defensive effort and tries from lock Eben Etzebeth, debutant centre Jesse Kriel and 10 points from the boot of Handre Pollard.

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Wallabies captain Stephen Moore was proud of how his side dug in during the closing stages against South Africa.

Australia stayed in the contest with a first half try from winger Adam Ashley-Cooper and flanker Michael Hooper got them within sight of victory with another six minutes from time.

It was a first win in four Tests for Australia and will give Wallabies fans hope that coach Michael Cheika can construct a competitive side for the World Cup in England later this year.

South Africa, who were without a string of top players and lost skipper Victor Matfield in the 18th minute to a hamstring strain, will count themselves unlucky to leave Australia without a point as they head home to face the All Blacks next week.

However the experimental Springbok back row of Schalk Burger, Francois Louw and Marcell Coetzee certainly worked as they were oustanding in defence and dominated at the breakdown.

Schalk Burger: impressive display on both attack and defence

Springbok fly-half Pollard hit the upright with his first penalty attempt, but made no mistake with the next two to give them a 6-0 lead in the 25th minute.

Australia  got on the scoreboard in the 34th minute following a set-piece move from the lineout as Matt Giteau took the ball at first receiver and his inside pass sent Ashley-Cooper over.

The lead lasted just four minutes, however, before a Pollard cross-kick was batted back by winger Bryan Habana and full-back Willie le Roux's pass allowed Etzebeth to touch down in the corner.

Pollard converted to send the Springboks into halftime 13-7 in front and they moved further ahead four minutes after the break when Kriel beat three defenders to also score in the corner.

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Schalk Burger says the Springboks had a decent first hour but they need to look at what happened after that.

Flanker David Pocock then came onto the pitch for his first Test in three years to join Michael Hooper in the back row and the Wallabies were immediately more competitive in the tackle area.

Changes in the Springbok front-row disrupted their set-piece as Australia started to dominate that area and the boks confidence started to slip. Their defence was still superb but something had to give as the Wallabies continued to hammer away at the wall of green shirts.

Hooper finally barged over the line with six minutes remaining to set up the dramatic finale.