The Springboks will face England in next Saturday's final.
Handre Pollard kicked three penalties to Dan Biggar's two.
Head to Head
Nov 29, 2014 2.30pm
Rugby World Cup day 38: Wales, South Africa battle to meet England in finalThe Springboks have won the two previous World Cup fixtures between the nations.
South Africa prepared for set-piece war with WalesThe Springboks have named six forwards on their bench for what Handre Pollard expects to be a "gain-line battle".
Oct 26, 08:39
George North: 'Wales are raring to go'Wales will reach their first World Cup final if they beat South Africa in Yokohama.
Oct 26, 08:30
Wales vs. South Africa: Five classic encountersWarren Gatland's side have won the last four matches between the two teams.
Oct 25, 10:50
Wales vs. South Africa: The key talking pointsWales and South Africa will go head to head for a place in the World Cup final.
Oct 25, 10:29
Warren Gatland: 'Liam Williams is undoubtedly a big loss for Wales'Wales full-back sidelined after suffering ankle injury during training.
Oct 25, 08:22
Wales confirm Liam Williams ruled out of rest of World CupWelsh Rugby Union say full-back was injured in accidental collision during training.
Oct 25, 08:13
Liam Williams an injury doubt for Wales after reported ankle injuryLeigh Halfpenny likely to replace Williams at full-back if he is ruled out of semi-final.
Oct 24, 16:54
Rassie Erasmus: 'Warren Gatland is an absolute legend of the game'The Springboks boss lavishes praise on the Wales head coach.
Oct 24, 11:38
Jake White: 'Alun Wyn Jones destined to lift World Cup'Wales captain has led his country to a second World Cup semi-final in the last three tournaments.
Oct 24, 10:07
Cheslin Kolbe ruled out for South Africa against WalesThe Springboks wing has lit up the World Cup with his skill.
Oct 24, 09:28
Wales vs. South Africa: Route to the Rugby World Cup semi-finalsWales topped their group before seeing off France in the quarter-finals.
Oct 23, 09:15
Neil Jenkins pays hails "incredible" Wales captain Alun Wyn JonesThe lock will make his 133rd appearance for his country on Sunday.
Oct 23, 09:06
Prince Charles: 'Wales will make us all proud at World Cup'Warren Gatland's side face South Africa on Sunday.
Oct 23, 08:56
South Africa full of praise for Wales ahead of World Cup semi-finalWales have beaten South Africa in five of the countries' last six meetings.
Oct 22, 11:13
Shaun Edwards compares Cheslin Kolbe to Jason RobinsonWales' defence coach has compared the Springbok winger to his former Wigan team-mate Jason Robinson.
Oct 22, 11:05