After Halfpenny and Pat Lambie had exchanged early penalties, Wales were dominating the possession in the first half, but were unable to find the South Africa try line.
The visitors started to look dangerous in the final minutes before the break though, but Gethin Jenkins did just enough to deny Bismarck du Plessis.
Lambie added a second penalty for the Springboks after the break, but Halfpenny kicked three in the space of 10 minutes to give Wales a six-point cushion.
The visitors pressed hard to try and force a late try, but Wales's scrum held firm on their own 5m line in the final minutes to make sure they did not let South Africa score.
England 26-17 Australia: England have finished their Autumn International series with a 26-17 win over Australia at Twickenham this afternoon.
Bernard Foley opened the scoring just a couple of minutes in with an early penalty for the visitors, but the kick was to be their only score in the opening 40 minutes.
From a scrum, the hosts managed to get the ball out wide before Ben Morgan battled his way through a couple of Australia players to the opening try.
Australia reduced the deficit early in the second half when Rob Horne set up Foley to dive over under the posts, leaving them just three points behind.
Morgan appeared to have put England back in a commanding position when he added his second of the afternoon, but Will Skelton came off the bench to bring the visitors straight back into it.
However, George Ford split the uprights twice in the final 15 minutes to ensure that England kept themselves in front for their second Autumn win.
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