Les Bleus led by 15 points in the first half after two Gabin Villiere tries but Wallabies Captain Michael Hooper’s late try closed France’s lead to one.
France then kicked a penalty to touch but fumbled the resulting line-out and Australia won the decisive penalty.
The sides meet again on Tuesday in the second game of the three-match series.
It was Australia’s second Test victory since the 2019 World Cup against a French side that had rested most of their Test starters. (BBC)