Hauritz replaces Jason Krejza, who returned match figures of one for 204 in the six-wicket defeat at the Proteas' hands in the first test in Perth.
Veterans Brett Lee and Matthew Hayden retained their places in the squad despite their recent struggles, with Hayden a confirmed starter given no other batsmen were brought into the squad.
However Lee (32), who returned match figures of one for 132 at the Waca Ground, could find himself replaced by Tasmanian Hilfenhaus, who is yet to play a test.
Victorian paceman Peter Siddle, another who had little impact in Perth, was also retained, while the 13-man squad also includes Queensland all-rounder Shane Watson.
Hauritz (27) has played two tests, one in India in 2004 and the other against New Zealand in Adelaide last month, when Krejza was injured.
Chairman of selectors Andrew Hilditch said Krejza had leaked too many runs when bowling in Perth, which made it difficult for Australia to maintain pressure on South Africa's batsmen.
"The national selection panel consider that Jason is a potentially fine spin bowler for Australia, but our view is that in Perth we were unable to maintain pressure and to successfully use our fast bowlers we needed to maintain that pressure at the spinner's end," Hilditch said.
Hauritz took four wickets in the second test against New Zealand, and Hilditch said the selectors thought the New South Wales bowler deserved a recall given the pressure he applied in that match.
Hilfenhaus (25) played a one-day match against New Zealand in January 2007 and has enjoyed a great start to the Sheffield Shield season, having taken 24 wickets at 18.66 from six matches.
The right-armer was rewarded for his form and ability to swing the ball and, in a sign that he could potentially replace Lee, Hilditch said the Tasmanian was capable of opening the bowling.
Australian squad: Ricky Ponting (captain), Michael Clarke, Brad Haddin, Nathan Hauritz, Matthew Hayden, Ben Hilfenhaus, Michael Hussey, Mitchell Johnson, Simon Katich, Brett Lee, Peter Siddle, Andrew Symonds, Shane Watson.
