Skipper Steve Smith remained unbeaten on 48 with Vernon Philander taking five for 21 for his 10th five-wicket haul or more in an innings.
It was Australia's lowest total against South Africa in Australia, although they were skittled for 47 in Cape Town in 2011.
There were some memorable catches taken by South Africa to back up the efforts of their bowlers.
JP Duminy took a one-handed diving screamer in the gully to dismiss Mitchell Starc, while wicketkeeper Quinton de Kock leaped across slips to take a one-handed gloved effort to remove Nathan Lyon to end the Australian innings.
AFPAustralia were bowled out for 85 off 32.5 overs in their first innings after being sent into bat on the opening day of the second Test against SA.
Original source: Australia all out for 85 in 2nd Test