The changes come after the Junior Boks wrapped up their Pool A campaign with a win over Wales earlier this week, following earlier wins over Uruguay and hosts Georgia.
Foote has made two alterations in the backline and two among the forwards, while selecting a six-two split on the replacements bench to match the expected physicality of the England challenge.
In the loose forwards, Kebotile Maake moves into the starting line-up at openside flank, with Luke Cannon switching to blindside and Gert Kemp starting at No 8. They replace Risima Khosa, who drops to the bench, and Vujo Gwiji.
The backline changes see Markus Muller return at outside centre, while Luan Giliomee comes back in at fullback after successfully completing his head injury assessment protocols. Alzeadon Felix drops to the bench to provide backline cover.
Foote said the extra recovery time between the pool stages and semi-finals had allowed the squad to recharge ahead of what is expected to be a demanding knockout clash.
"We've made some rotational changes to the squad, mindful that we had an extra day for recovery, which came at the right time after three pool matches in a relatively short period," he said.
"We have selected what we believe is an exciting team and a combination best suited to our game model against a very good England side."
England advanced to the semi-finals after winning all three of their pool matches against Ireland, USA, and Argentina.
"England have shown their quality by winning all three of their pool games," Foote added.
"They have a strong and successful history in this competition and will be highly motivated for this match. We have prepared well, and now it's about executing our plan.
"These young men love representing this team and playing for South Africa. We are grateful to represent our country and are excited about the challenge that awaits us on Monday."