South Africa beat Australia by 176 runs in the third Test at Newlands in Cape Town on Saturday, October 31, to win the deciding match and take the three-match series 2-1.
The match went the full five days before South Africa closed it out.
Australia were set 288 to win and were bowled out for 111, with the collapse built almost entirely around one bowler.
South Africa spinner Simon Harmer took 6-16 in Australia's second innings, the best bowling figures of his Test career.
He finished with 10 wickets for 120 runs across the two innings, the first ten-wicket haul of his Test career.
"Today was a lot of fun, fielders around the bat and trying to get the win," Harmer said.
Kagiso Rabada struck early, taking two wickets in the first over of the chase.
Rabada finished the innings with 3-39, meaning he and Harmer shared nine of Australia's 10 wickets between them.
During the match Rabada also reached 350 Test wickets, doing so in 13,808 deliveries, fewer than any other bowler in history has needed to reach that mark.
Australia's Josh Inglis had scored a century in the first innings but was run out for four the second time around.
Nathan Lyon top-scored in the chase with 33 not out.
Matt Renshaw was out for a golden duck. Cameron Green was bowled by Harmer for 27.
Australia captain Pat Cummins was out lbw for 11, and Cooper Connolly made a two-ball duck.
"We are a really good side but playing tough opponents away from home is always difficult," Cummins said after the match.
South Africa's total had been built on day four, when Ryan Rickelton and Wiaan Mulder both scored centuries, adding exactly 154 runs together for the sixth wicket.
That partnership gave South Africa the runs to set Australia a target of 288 for victory, one the tourists never got close to chasing down.
The win lifted South Africa to the top of the ICC Men's Test Team Rankings for the first time since January 2016.
The series had been shared heading into the decider at Newlands. Australia won the opening Test in Durban by 214 runs, before South Africa hit back with an innings-and-31-run victory in Gqeberha.
The win at Newlands also keeps alive South Africa's hopes of defending the World Test Championship, the title they won with a final victory over Australia at Lord's last year.