What a night for England fans.

The hosts' rapid attack saw them get three tries past the world champions. A string of penalties allowed South Africa to take the lead in the second half, but Marcus Smith kicked the only one that counted to seal victory right at the end.

If you missed any of that excitement, Mike Henson's match report will get you all caught up.

And if you haven't had your English rugby fill for the weekend, we'll be back as the Red Roses take on the United States tomorrow. That one kicks off on BBC Two at 14:45 GMT and you can watch it and follow live text commentary on the BBC Sport website and app.

See you then.

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Nick Johnson: Changing of the guard perhaps? What was the difference in the number of caps between those two squads?

Paul David Opie: Well done England! Talk about adversity. Maybe South Africa should read a book on sportsmanship or watch New Zealand in...well everything. Unedifying and unnecessary to see what they revert to when their physical dominance is insufficient.

Ralph Brooker: Ironic justice. Pinched by a kick. I’ll take that.

Siya Kolisi told Amazon Prime his side was "very disappointed" with the loss.

"I think both teams turned it up," he continued.

"It was a pity that we couldn't finish strong but I'm proud of the way the boys pushed up even when we made a few mistakes.

"I thought we defended well but we made a couple of mistakes. Not being able to get close to the line made it tough for us too.

"We never make excuses, we will take it in our stride as we are grateful that we get to play this game of rugby.

"It's been a tough year, many people have lost jobs and lost family members but playing in a stadium like this is just an honour."

Jones said England "don't have anyone else like" Manu Tuilagi so had to "change the way we play" when the centre went off injured after scoring an early try.

On Marcus Smith, Jones said: "Oh he's going to be good!"

On England's fifth-place finish in the 2021 Six Nations, Jones added: "We've never been bad, we had a bad Six Nations but we've never been a bad team.

"We've refreshed ourselves so now we will just keep going forward."

Eddie Jones said nonchalantly on Amazon Prime that "it's been a good night hasn't it?"

He added: "We had a young team, they probably didn't realise how important the game was and they just went out there and kept playing and playing. I'm really pleased with them.

"Twenty minutes into the second half we looked nearly at breaking point but we managed to pare them back a little bit."

Henry Ellison: What a game of rugby that was. Somehow survived the South African onslaught from the second half. All done without Farrell. The future is now?

James: Not a classic but that is Test match rugby at its best. England showed great resolve to comeback against the bomb squad

More from Smith on what was going through his head as he waited to take the final penalty.

"It was mental, having to wait so long," he said. "The referees were checking the TMO. It made it more nerve-wracking.

"The boys around me backed me. They put their arm around me and said back yourself. Ultimately I did my job. It was brilliant.

"Once I hit the kick it was like slow motion. It was so emotional for me.

"To win the penalty and properly celebrate at the end was amazing. This group will never forget that day."

Marcus Smith, who kicked the match-winning penalty 15 seconds before full-time, said on Amazon Prime:

"I can't believe it. We said four weeks ago this is the game we wanted to target. The boys bought in for the last four weeks.

"Today was a massive part of our journey as young England players. It's a day I'll never forget."

Chris Jones
BBC rugby union correspondent

Considering England were killed at the breakdown, dominated at the scrum and unable to win a line-out in the second half, that has to rank as one of their greatest ever victories.

On Marcus Smith's match-winning penalty, Lawes said: "Jonny [Hill] said to me imagine taking this kick.

"I was like that is why he gets paid the big bucks.

"I really thought we were going to win today. I'm incredibly happy to be able to put in a performance like that."

On the subject of what England might to post-match given the autumn series is over, Lawes says: "Get together and have a damn good time."

England captain Courtney Lawes tells Amazon Prime he is "incredibly proud" of his side.

"The only reason we won that game is we were fighting for each other.

"We left a lot of points out there but we can build off that definitely."

Scrum-half Raffi Quirke is in the stands hugging what must surely be family members given the resemblance.

What a day for the 20-year-old. A try in victory against the world champions at a sold-out Twickenham.

Elsewhere, England head coach Eddie Jones exchanges some cheerful words with South Africa scrum-half Cobus Reinach before grabbing a word and a laugh with England prop Joe Marler.

Player of the match Freddie Steward is asked on Amazon Prime what he was thinking when Marcus Smith stepped up for that match-winning penalty.

"At that moment I was just thinking Marcus please don't miss," he joked.

"We dug in, we fought. South Africa are so physical and you can't shy away from that.

"It was a whole squad effort and it was unbelievable

"The last time we played South Africa I was watching in a student bar. I can't really believe it. I'm so happy we came away with the win today."

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England gather in a huddle on the pitch and captain Courtney Lawes leads the team talk.

He looks to have returned to chilled mode now that massive win is under England's belt. Every single England player has a massive smile on their face, while South Africa pace round the field applauding their fans.

What a way to finish off the autumn.

England came into this one surrounded by a doubtful narrative given their lack of experience in the front row against the best pack in the world.

But they started that match in dominant fashion and after a worrying period of ill discipline, they finished it that way too. A win is a win and that was a big one.

Image source, Getty Images

Marcus Smith boots the ball into the stands and grabs Freddie Steward into a celebratory bear hug. England's future.

World champions beaten.

Brace confirms the penalty is against Etzebeth. Bit of a stilted end but now England can celebrate.

England are already celebrating their win, but the final whistle can't go yet as both sides push and shove off the ball.

Andrew Brace wants to review the contest between Eben Etzebeth and Freddie Steward in the air after that restart...