Foley, a veteran of 60 Tests for the Wallabies, was left out of the starting side by Michael Cheika.
The Wallabies have lost just three of nine Tests with Beale starting at fly-half (four wins, two draws).
Cheika and the Wallabies are under huge pressure after two heavy losses to New Zealand.
15. Israel Folau, 14. Dane Haylett-Petty, 13. Reece Hodge, 12. Matt Toomua, 11. Marika Koroibete, 10. Kurtley Beale, 9. Will Genia; 1. Scott Sio, 2. Tatafu Polota-Nau, 3. Allan Alaalatoa, 4. Rory Arnold, 5. Adam Coleman, 6. Lukhan Tui, 7. Michael Hooper, 8. David Pocock.
Replacements: 16. Folau Faingaa, 17. Tom Robertson, 18. Taniela Tupou, 19. Izack Rodda, 20. Ned Hanigan, 21. Joe Powell, 22. Bernard Foley, 23. Jack Maddocks.
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