Brazil had a one-point lead at halftime, but opened the third quarter with a 10-2 run. Then David Andersen got on a roll and helped Australia get back in the game.
Anderson scored all of his 14 points in the second half and Australia battled back to within two — 73-71.
Brazil let the clock wind down and Australia was called for kick ball — which reset the shot clock. The Australians were then forced to foul Brazil captain Marcelinho Huertas, who hit two free throws to seal the victory with five seconds left.
Patty Mills, re-signed by the San Antonio Spurs earlier this month, finished with a game-high 20 points for Australia.