The match, confirmed by Rugby Australia, will be staged at the 61,000-capacity Optus Stadium and is set to take place two weeks after the Boks conclude their four-match series against the All Blacks, including the final clash at M&T Bank Stadium.
The additional Test provides Springbok head coach Rassie Erasmus with a valuable opportunity to expand his squad depth ahead of the Boks' Rugby World Cup title defence in Australia next year.
With the traditional Rugby Championship shelved to accommodate the expanded "Greatest Rivalry" tour, concerns had emerged that the two southern hemisphere powerhouses would miss out on meeting this season.
The Perth encounter ensures the rivalry continues while also placing the Mandela Plate back on the line, currently held by South Africa.
The Boks' season will be anchored by the Nations Championship, which begins with three home Tests against England, Scotland and Wales in July.
The Boks are also planning a warm-up fixture against the Barbarians in Gqeberha, intended to give Japan-based players game time before the international schedule intensifies.
Following the mid-year Tests, attention will shift to the blockbuster All Blacks tour, featuring three matches in South Africa before the historic Stateside finale in Baltimore. The encounter with Wallabieswill follow immediately afterwards as Erasmus balances immediate series ambitions with long-term World Cup preparations.