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Wallabies coach Michael Cheika says the decision to yellow-card replacement prop Taniela Tupou was wrong, and he has support from ex-Test skipper Phil Kearns.

Prop Taniela Tupou had his phone snatched in Johannesburg but Wallabies coach Michael Cheika believed a second robbery happened at Ellis Park - and he wasn't alone.

Former Wallabies skipper Phil Kearns described the yellow card given to Tupou early in the second half as "disgraceful" and was unhappy with the overall performance of rookie Kiwi referee Paul Williams.

Replacement Wallabies prop Tupou was given a stint on the sidelines in the 54th minute for a hit that Williams ruled a dangerous clean-out.

Tupou launched at South African back-rower Rynhardt Elstadt just as Australia were awarded a scrum feed, with the television match official and Williams both saying it was a shoulder charge.

In his absence the Springboks scored twice to set up the win.

"I make it as the wrong call," said Cheika, adding Tupou had attempted to use arms and was clearing out a player who had attempted to clear out a Wallabies player.

"I'm not sure if big contact is a penalty these days but that's a wrong decision."

Fox Sports commentator Kearns agreed and said Williams, in his 10th Test, was out of his depth.

"It was a disgraceful decision, it was late but it was a legitimate clean-out," Kearns said.

"In big games like that, that is a game-changing moment.

"So many times we put referees that are out of their depth into these games.

"We've all talked privately about the World Cup referees and there's a whole bunch of guys there that are totally out of their depth."

There was also some confusion when the fourth official reportedly green-lighted Williams's decision to award a first-half try by Lukhan Salakaia-Loto, before changing his decision and ruling a forward pass.

Australia made their own costly decisions with skipper Michael Hooper turning down the chance to kick an easy midfield penalty to opt for a scrum.

Hooper defended his call.

"Defending a midfield scrum five metres out from your own line is the hardest place to defend from, numerically in the backs it's super hard to defend," Hooper said.

"We won the scrum, we just had to get it out and it's a try.

"If you're a gambling man that's a small bet, chances are in our favour there."