Wales will host Australia for a one-off Test match in Cardiff on Saturday, December 3.
It will be the first game the Welsh play after the World Cup in New Zealand, which begins next month.
The two teams will be competing for the James Bevan Trophy, with the Wallabies the current holders after winning in Cardiff last year.
Wales' first fixture of the World Cup is against South Africa on Sunday, September 11, while Australia face Italy on the same day.