England failed to defend 342 as Miller 58* leads South Africa clinch a 2-0 series victory.
England slump to 27-run defeat despite Jason Roy century.
South Africa name 16-man squad for ODI series against England.
A defiant South Africa only allowed the Aussies to take six final-day wickets as they showed considerable fight on day five at the SCG.
Australia opener Usman Khawaja has continued his remarkable recent run of form at the SCG.
Half-centuries from Khawaja, Labuschagne put Australia in comfortable position at SCG on Wednesday.