With Keith Miller unable to bowl because of a throat infection, Australia's attack looked "ordinary", said Wisden.
South Africa's first innings total owed much to a late flourish from Murray, who made 51 after coming in with the score on 126 for seven.
Colin McDonald made 82 and Miller 52, but Tayfield's off-breaks brought him six wickets for 84 runs and Mansell supported with his leg-spin, taking three for 58.
South Africa opened with Endean making 56, and Waite (44), Funston (92) and Watkins (76) made middle-order runs with cautious batting.
The declaration set South Africa 377 to win in 255 minutes and though wickets fell regularly after an opening stand of 81, the Australian attack, without Miller and Lindwall, was unable to finish the job.
The innings enabled Harvey to beat Donald Bradman's record of 806 runs in a series against South Africa, set in 1931–32.
[5] South Africa batted determinedly in their first innings with five batsmen passing 50 – Waite (64), Watkins (92), McLean (81), Cheetham (66) and Mansell (52).
Australia's second innings was a stuttering affair, with Fuller effective at the start, when he took the wickets of McDonald and Harvey, and at the end, when he added Benaud, Bill Johnston and Geff Noblet to finish with five for 66.
The Australian journalist A. G. Moyes wrote: Few more competent captains than Jack Cheetham have come to Australia, and Ken Viljoen made the perfect manager, the former star cricketer who combined with it a knowledge of men, a determination to efface himself and work entirely for his team, and a happy knack of being with the team and yet retaining proper control.
The pair worked together in perfect harmony, and this was one of the chief reasons for the success of a tour which had not been wanted by Australian officials, and which seemed certain to fail because there were no draw-cards among the visitors.