James Pattinson was unbeaten on 29 and Ben Hilfenhaus was not out 18, the pair putting on 47 runs in quick time for the ninth wicket before Clarke decided Australia had enough runs halfway through the middle session.
Mike Hussey (54) and Clarke (38) earlier put on 70 for the sixth wicket after Australia resumed day four at 111-5, after losing 5-26 late on the previous evening.
Morne Morkel finished with 3-50 and Rory Kleinveldt had 3-65. Legspinner Imran Tahir didn\'t pick up a wicket in either of Australia\'s innings and conceded 260 runs in the match.