Aiden Markram (15 not out) and David Bedingham (12 not out) will resume on the third morning for South Africa, who were left frustrated by the record-breaking innings of Renshaw.

Ryan Rickelton was the wicket to fall in the home side's innings when he was caught at third slip by Beau Webster for a duck off the bowling of Josh Hazlewood.

The day belonged to Renshaw as he shared a record ninth-wicket stand of 134 for Australia against South Africa with Nathan Lyon (27), also the highest partnership for that wicket in Durban.

His score is the highest by a number five batter in tests at Kingsmead, but he was out soon after tea when he edged spinner Simon Harmer to Markram at slip.

Australia were in trouble early in Renshaw's innings as they slipped to 124 for six on day one. 

But he has flipped the script after putting on 86 for the seventh wicket with skipper Pat Cummins (43) before swinging the test in the favour of the touring side.

Australia started the second day on 187 for six and frustrated the home side before Wiaan Mulder (4-68) had Cummins caught by Markram at second slip.

Mitchell Starc (6) followed quickly after being bowled by Mulder, and at that stage it looked as though South Africa would run through the lower order.

Lyon was circumspect, however, and Renshaw rotated the strike superbly to make sure he had most of the strike and continued to accumulate runs rather than attack the bowling.

Lyon eventually fell LBW to Marco Jansen (3-68). 

Renshaw’s 190 has come off 397 balls, a classic test innings of patience and waiting for the bad ball.

He was struck in the helmet by speedster Anrich Nortje, but he soon settled again and his second test century came nine years after his first, 185 against Pakistan in 2017. 

Renshaw had made single-figure scores in 11 of his previous 13 test innings.