Ireland toppled rugby world champions South Africa 25-24 with a drop goal by Ciaran Frawley in the last second of a ferocious body-smashing contest at Kings Park on Saturday.

The Irish rebounded from losing 27-20 last weekend in Pretoria by notching only their second ever win over the Springboks in South Africa.

It didn't look like it would happen after the Springboks came back from 16-6 down at halftime, finding another gear and forcing errors that Handre Pollard used to kick eight penalties from eight attempts.

But after falling behind 24-19 with 15 minutes to go, Ireland found the energy to pin South Africa in their 22. They waived off a penalty kick to go for a try and squandered a tapped penalty. But, out of nowhere, replacement flyhalf Frawley lined up a 42-metre drop goal in the 70th minute to keep them in touch at 25-22 behind.

The Irish, playing their 15th and last test of a super-long Rugby World Cup season, rallied yet again and, as the match clock ticked into the red, Frawley let fly with another drop goal from the same length as the first and won a gripping match and squared a classic series. (AP)