They return to a side showing seven changes to the XV that beat Russia 68-22 in the pool stage.
Fullback Beale replaces the injured Drew Mitchell, with James O'Connor switching to the right wing.
Inside centre Pat McCabe replaces Berrick Barnes, while winger Ioane takes over from Radike Samo, who moves back to number eight.
In the pack, props Ben Alexander and Sekope Kepu are reinstated, along with flanker Rocky Elsom and second-row Dan Vickerman.
"We've gone with the players, and the combinations, which have served us best through the year to date," Wallabies coach Robbie Deans said.
"Obviously injury, and managing individual player workloads, has been a factor in selection through the tournament so far, but fortunately a lot of the injury problems that we've had are now behind us."
Australia: Kurtley Beale, James O'Connor, Adam Ashley-Cooper, Pat McCabe, Digby Ioane, Quade Cooper, Will Genia, Radike Semo, David Pocock, Rocky Elsom, James Horwill (captain), Dan Vickerman, Ben Alexander, Stephen Moore, Sekope Kepu
Replacements: Tatafu Polota-Nau, James Slipper, Nathan Sharpe, Ben McCalman, Luke Burgess, Berrick Barnes, Anthony Fainga'a