Rabada underwent a scan on Monday following an inflammation of his right ankle, Cricket South Africa said in a statement, after which the 30-year-old was ruled out of the three-match series.
"He will remain in Australia and undergo rehabilitation under the supervision of the Proteas medical staff," the statement read.
Left-arm quick Kwena Maphaka, who finished as the leading wicket-taker in the preceding T20 series between the sides, has been added to the squad but was not picked for the series opener.
