While De Villiers was caught behind off the bowling of Ryan Harris and Steve Smith trapped Du Plessis lbw, JP Duminy held firm to reach the break on 22 while Vernon Philander hit an unbeaten 16.
South Africa's intent to settle for the draw and not chase a target of 511 to win was clear, as it scored 130 runs in 65 overs on Wednesday.
However, Australia remained patient throughout the day to keep itself in the hunt for a hard-earned series victory.
South Africa resumed on its overnight total of 71/4, and Australia soon had most of its fielders around the bat as the home side's defensive approach became clear.
However, with Kyle Abbott able to get in behind the line of Australia's pace bowlers and to block out the spinners, the tourists faced a frustrating morning until James Pattinson bowled the nightwatchman in the 26th over of the day.
Australia captain Michael Clarke brought back strike bowler Mitchell Johnson to try and dislodge new batsman Du Plessis, but aside from one shout for lbw, Du Plessis and De Villiers looked comfortable in the 14 overs remaining before lunch.
Their challenge became more difficult after the break when Australia took the second new ball, and after missing several deliveries from Harris, De Villiers eventually feathered one through to the wicketkeeper. He departed for 43, having spent 228 deliveries and more than five hours at the crease.
Although Du Plessis and Duminy were able to dig in and see off the new ball, Smith dealt a major blow when Du Plessis missed a straight one from the legspinner on 47.
Philander took a more aggressive approach to survival, scoring his runs from just 13 balls as he helped to set up a tense final session.
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