The 82-Test veteran had suffered a twinge in his lower back on Tuesday which had not responded to treatment since, according to the Australian Rugby Union.
His place in the starting 15 will be taken by Brumbies second rower Mark Chisholm, with Mitchell Chapman moving into the squad on the bench.
Australia's front row has been decimated with injuries to regular props Ben Alexander and Benn Robinson, and hookers Stephen Moore and Tatafu Polota-Nau.
Northampton hit back in row over North playing for Wales
27/11/2013 AT 11:36
Replacements Salesi Ma'afu, Ben Daley and hooker Saia Faingaa were mauled by England's more powerful counterparts during their two tests this month, but will be given another chance against Ireland in Brisbane.
Japan coach Jones out of intensive care and 'doing fine'
24/10/2013 AT 07:09
Johnson: England have closed gap
15/09/2010 AT 21:11