It was the second win in a row for the Wallabies and they now travel to England for games with Premiership Champions Leicester Tigers and Martin Johnson's men.
"We're very happy with the win," said Beale. "We came in with a game plan and stuck to it, the Welsh gave it everything. But it starts all over again when we travel to England.
"It was good to score and I was happy to get on the end of James O'Connor's pass. He made a good run down the wing and took on Shane Williams, who I think is one of the best wings to have ever played the game. I was just lucky to get on the end of it."
But it is Beale's second-half disallowed try that has remained a talking point.
The Waratahs star caught his own kick ahead and skipped towards the Wales line before chipping the ball to the right of James Hook. Beale raced around the left of the Wales full back, reclaimed possession and slid towards the Wales line before losing his grasp on the ball inches short.
"I put the bomb up and was lucky to come away with it. I saw Hook and put it past him and got the re-gather but was very unlucky. But it was good work by Hook who backed up and forced the error.
"The Welsh threw a lot at us and there are a few things we have to pick up on. The second half we controlled the game well, Quade (Cooper) managed the game and pinned the corners.
"We were fortunate to get a few lucky tries and James O'Connor kicked his goals. We've got a bit of experience under our belts and are creating a culture we want to take into the next couple of years."