Australia coach Joe Schmidt says his team now know the "benchmark" for what is expected after losing to South Africa in their Rugby Championship opener.

Schmidt's unbeaten start in charge of the Wallabies ended on Saturday as they were hammered 33-7 in Brisbane.

Australia trailed 21-0 at half-time after a dominant first half from the Springboks, and though Hunter Paisami managed a late consolation, it was never going to be enough to deny South Africa a first win in Brisbane since 2013.

Schmidt acknowledged how his side were outplayed but explained how the defeat would determine their preparation for the next game.

"They won the physical battle today, their breakdown was really strong, and they dominated possession and territory in that first half, which saps the strength out of the boys a little bit," Schmidt told Stan Sport post-match.

"The team hung in there, fought back, lost the second half 12-7; it would have been great to get a little bit more out of the game, but we've got a benchmark.

"And it wasn't a massive shock to where the Springbok would be, and it's somewhere that we're going to have to build toward."

South Africa have won back-to-back Test matches against the Wallabies in Australia for the first time since July 1993, successfully ending Australia's four-Test winning streak with ease.

Before the tournament, Schmidt had overseen two wins over Wales and another against Georgia in his unbeaten start, but he remains optimistic after taking the positives from their performance.

"We saw some real heart. I thought we got back and defended a couple of times when we were a little bit unlucky, they got a few bounces of the ball which are always going to go in your favour when all the momentum is going your way. And they earn it, and they physically impose it, so that they make it very, very difficult," Schmidt added.

"At the same time, I'm a little bit heartened by the way the boys rolled their sleeves up and kept trying to fight, and then that second half, 12-7 is a lot closer than the three tries they put on in the first half."

Australia will meet South Africa again in the Rugby Championship next weekend in Perth.