Halfpenny lines up at fullback for his first Wales appearance since he suffered knee ligament damage during a World Cup warm-up game in September last year.
Cardiff Blues' Alex Cuthbert is named on the wing in a reshaped back three - Liam Williams misses out through injury - while 126 times-capped prop Gethin Jenkins captains Wales instead of Sam Warburton.
Warburton is set to begin his comeback from injury for Cardiff Blues against Treviso in Italy on Friday, so Justin Tipuric lines up at openside flanker in a back-row that also features Dan Lydiate and Gloucester's in-form Ross Moriarty, who takes over from injured No.8 Taulupe Faletau.
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Lock Alun Wyn Jones, meanwhile, was not considered for selection following the death of his father, with Bradley Davies and Luke Charteris forging Wales' second-row partnership as they target a first victory over Australia since 2008.
Wales' interim head coach Rob Howley has named two uncapped players among the replacements - Ospreys fly-half Sam Davies and Newport Gwent Dragons lock Cory Hill.
Wales: Leigh Halfpenny, Alex Cuthbert, Jonathan Davies, Jamie Roberts, George North, Dan Biggar, Rhys Webb, Ross Moriarty, Justin Tipuric, Dan Lydiate, Luke Charteris, Bradley Davies, Samson Lee, Ken Owens, Gethin Jenkins (capt). Reserves: Scott Baldwin, Nicky Smith, Tomas Francis, Cory Hill, James King, Gareth Davies, Sam Davies, Hallam Amos.
