The match will take place at the Estadio Nacional Mane Garrincha Stadium on 7 September.
It will be the seventh match between the two nations with Brazil winning their last meeting 2-0 in the group phase of the 2006 FIFA World Cup™ in Munich.
Brazil have won four of the previous meetings, with the Socceroos earning a famous victory over A Seleção at the 2001 FIFA Confederations Cup.
“With less than twelve months to go to the World Cup this match is a great opportunity for us to get an impression of the environment we will face,” said Australia coach Holger Osieck.
“Brazil is one of the top teams in the world and a great challenge for us as we prepare ourselves for the World Cup.
“This match will be a valuable learning experience for us both on and off the field.”
The Socceroos are currently ranked 40 in the FIFA/Coca-Cola World Ranking, while recently crowned FIFA Confederations Cup winner Brazilians now sit in ninth position.