Parling was injured during training at England's Pennyhill Park base.
"Geoff Parling sustained a mild concussion during a contact session this afternoon and will undergo the recommended graduated return to play protocol," Lancaster said in a statement.
"As such, he will be unavailable for Saturday's game but will stay in camp with a view to returning to training next week."
Lancaster will announce his team to play the Wallabies on Thursday.
England also play Argentina and New Zealand in November.
(Reporting by Toby Davis; editing by Rex Gowar)
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