Tickets are priced at £25, £40, £50 and £65, with a pre-registration facility now available at: www.wru.co.uk
The traditional Saturday afternoon kick-off time rewards Welsh rugby fans who have embraced late evening starts during the RBS 6 Nations over the last two seasons and who watched their side take on England at 5pm and France at 8pm earlier this year.
"In Wales we have been part of an exciting experiment over the last two international seasons and drawn sell-out crowds for fixtures at late kick-off times in France (9.00pm in 2009), in Twickenham (5.00pm in 2010) and at home in Wales (8.00pm in 2010 against France)," said WRU Group Chief Executive Roger Lewis.
"We sold-out two home games this year against France and Scotland and packed in excess of 70,000 fans into the Millennium Stadium for our final RBS 6 Nations game, the impressive win over Italy.
"And, with the prospect of the World Champions coming to town in a match which is already rich in theatre, we are expecting a bumper crowd on what should be a sizzling summer afternoon in Cardiff.
"When you consider this is the first opportunity for much of the British & Irish Lions coaching team - not to mention the players - to try and pick up where they left off last summer when they won that final Lions Test and remember Wales will travel to All Black country for two Tests just a week later, then this becomes an even more mouth-watering fixture."
The game will bring a climax to the Millennium Stadium's 10th year of celebrations as well as marking the 10-year anniversary of Wales only victory to date over the Springboks in 23 attempts - the Millennium Stadium's inaugural fixture on 26 June, 1999 (5.00pm).
Wales won that day for the first time in the history of a fixture which began in 1906 when current All Blacks coach Graham Henry recorded an historic 29-19 victory at the helm for Wales.
Nowadays, every fixture between Wales and South Africa has an even sharper edge because both teams are competing for the Prince William Cup, which was launched in 2007.
The June 5 Test match will also be the first opportunity under the new WRU Participation Agreement with the four Regions for Wales to play an extra match at the Millennium Stadium in June before embarking on the summer tour.
This could now become a regular feature for fans to look forward to as the games will provide a springboard for Wales to set off on rugby visits around the world.
The Springboks will take the field against Wales one week before playing France and the Welsh Rugby Union is planning to ensure the Cardiff encounter is a fanfare for the international game by focusing on the role the Millennium Stadium has played in delivering elite sport to a worldwide audience.
WRU chairman David Pickering said of Wales' 24th meeting with South Africa: "The timing of the game is excellent in that it gives our team a huge boost before they set off for New Zealand and should appeal to a wide audience of Welsh rugby fans.
"This will be another landmark day for Welsh rugby and a unique opportunity to see some great rugby action in the northern hemisphere at this time of year.
"I was fortunate enough to be team manager in 1999 when for the first time in our history we beat the Springboks. We wait with eager anticipating for this memorable date.
"South Africa is a truly great rugby nation and the sporting rivalry we enjoy will give a special resonance to this fixture.
"It will be a fantastic sporting occasion and both teams will be fully aware of the importance of gaining ground in their build-up to next year's Rugby World Cup.
"Down the years there have been some fabulous encounters and with the Springboks currently the reigning world champions this will be another."
On June 5 the echoes of 1999 will also ring loud for some members of the Welsh national squad coaching team who played a vital role in delivering the famous Wales victory in 1999.
Wales assistant coach Rob Howley played scrum half that day alongside Wales kicking coach Neil Jenkins who slotted over five penalties and two conversions in the game, with a notable current player in Stephen Jones also featuring on the bench.
Roger Lewis added: "I am delighted the Springboks have agreed to come to Wales in June to celebrate 10 great seasons of rugby at the Millennium Stadium.
"It shows how much respect the South Africans have for Wales in that they are prepared to break new ground in agreeing to this fixture.
"This will undoubtedly be one of the showcase rugby occasions of the summer in the northern hemisphere and is a great coup for Wales.
"The Millennium Stadium crowd will also be able to give Wales a rousing send off for their summer tour to New Zealand.
"We are now seriously building towards next year's Rugby World Cup and Welsh fans can be certain that our international fixture list from now on will fully reflect the importance of that process.
"Warren Gatland wants his team to face the best and we have worked tirelessly to ensure we deliver on that wish in the months ahead.
"There is something very special about Wales versus South Africa and the two nations have enjoyed more than 100 years of rugby rivalry.
"It is therefore truly fitting that we celebrate 10 seasons of international rugby at the Millennium Stadium by welcoming the Springboks to Wales."
Tickets for the Wales v South Africa match, which are priced at £25, £40, £50 and £65 are currently on offer to WRU rugby clubs and debenture holders.
A pre-registration waiting list for the public to purchase any future available tickets is also in process at www.wru.co.uk
Before the RBS 6 Nations, more than 27,000 Welsh rugby fans registered their interest for tickets through the waiting list system. All ticket information will be posted on the WRU website at www.wru.co.uk/tickets
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