Wales 29
Australia 28
Substitute Rhys Priestland's penalty with the final kick thwarted Australia and sent a 68,000 Principality Stadium crowd wild.
Australia number eight Rob Valetini was sent off after just 15 minutes for a dangerous tackle on Wales lock Adam Beard.
Beard played no further part in the game as a result, but Wales were pushed to the wire and outscored three to two on tries by a resilient Wallabies outfit.
Dragons coach Wayne Pivac said: "Mistakes crept in and we let them back into the game.
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