Having scored 117 for the loss of one batsman in the morning session, the Proteas lost their final four wickets for 50 runs, with paceman Josh Hazlewood cleaning up the tail to finish with figures of 6-89.
Joe Mennie captured his maiden test wicket on debut when Temba Bavuma miscued an ugly pull to Nathan Lyon at point to be out for 74 shortly after the break.
Hazlewood bowled Keshav Maharaj for one and trapped Kyle Abbott lbw for three in his next over.
The paceman wrapped up the innings by having Vernon Philander caught behind for a quickfire 32.
South Africa lead the three-match series 1-0.
(Reporting by Ian Ransom in Melbourne; Editing by John O'Brien)
