The 29-year-old has played two Twenty20 internationals for the Proteas but has taken over 200 first-class wickets in his career and will replace Lonwabo Tsotsobe in the touring party.
National selector Andrew Hudson said: "We have given a fully deserved vote of confidence to our Test XI that did so well on the recent tour of England and we have just tweaked our reserve strength slightly to suit expected conditions and the tactical situation.
"It is tough luck for Lopsy (Tsotsobe) to miss out but we just feel that Rory's ability to hit the deck hard will give us a valuable option, particularly at Brisbane and Perth. He also adds batting depth to the lower order."
South Africa squad: Graeme Smith (capt), Hashim Amla, AB de Villiers (wkt), JP Duminy, Faf du Plessis, Imran Tahir, Jacques Kallis, Rory Kleinveldt, Morne Morkel, Alviro Petersen, Robin Peterson,Vernon Philander, Jacques Rudolph, Dale Steyn, Thami Tsolekile (wkt)