Australia captain Stephen Moore has hailed the character of his side following their dramatic win over South Africa in the Rugby Championship.

The Wallabies fought back from 20-7 down against the Springboks to claim a 24-20 triumph in Brisbane on Saturday.

South Africa looked on course for the win before Tevita Kuridrani touched down with the last play of the match.

"The character was there tonight," Moore is quoted as saying by Sky Sports News "The effort, the belief to go to the end was there and that was something I was proud of."

Australia are back in Rugby Championship action on July 25 when they take on Argentina in Mendoza.