Resuming on their overnight score of 52 for three, England, who were set a target of 382 runs, were blown away by the pace duo of Rabada and Morne Morkel as they lost the next seven wickets for just 49 runs.
Rabada carried over his excellent form from the first innings by claiming six wickets in the second. Morkel claimed three wickets while Dan Piedt took the wicket of England mainstay Joe Root.
South Africa batted first scoring 475 runs in the first innings with Captain Hashim Amla and Quinton de Kock scoring centuries.
In reply England, riding on yet another impressive batting display by Joe Root made 342 runs. Rabada was instrumental in South Africa gaining a decisive 133 runs lead.
Amla once again anchored South Africa’s batting in the second innings though he was unlucky to have missed on another 100 by just four runs.
The hosts declared their second innings on 248 runs setting England a mammoth target of 382 runs.
With Rabada firing all cylinders, England stood no chance as they caved in to the pace and swing of the South African pace bowler who was declared the Man of the Match.
England, though, won’t be too disappointed at the result as they won the series 2-1.
England all rounder Ben Stokes won the Man of the Series award.
South Africa (first innings): 475
England (first innings): 342
South Africa (second innings): 248-5 (declared)
England (second innings): (overnight 52-3)
A. Cook c and b Morkel 5, A. Hales lbw b Rabada 1, N. Compton c De Kock b Rabada 6, J. Root c Elgar b Piedt 20, J. Taylor c De Kock b Morkel 24, B. Stokes c Cook b Morkel 10, J. Bairstow c De Kock b Rabada 14, M. Ali not out 10, C. Woakes c De Kock b Rabada 5, S. Broad c De Villiers b Rabada 2, J. Anderson lbw b Rabada 0
Extras (lb2, nb1, w1) 4
Total (34.4 overs) 101
Fall of wickets: 1-2 (Hales), 2-8 (Cook), 3-18 (Compton), 4-58 (Taylor), 5-58 (Root), 6-83 (Bairstow), 7-83 (Stokes), 8-91 (Woakes), 9-101 (Broad)
Bowling: Morkel 12-5-36-3, Rabada 10.4-2-32-6 (1nb, 1w), Abbott 2-0-10-0, Piedt 7-2-11-1, Elgar 2-1-8-0, Duminy 1-0-2-0