Australia lost eight wickets in the final session on a gloomy day in Leeds, where Jofra Archer ripped through the tourists.
Only 18 overs were possible in the first two sessions of the third Test due to rain and bad light, Australia progressing to 54-2.
For the first time in over a year, George Ford and Owen Farrell will be in England's starting line-up when they face Ireland.
Australia reached 39-2 in the third Ashes Test against England before inclement weather forced the players off once more.
Jofra Archer removed the recalled Marcus Harris when play finally got under way in the third Test, but the rain soon returned at Headingley.
Ross Byrne will start Ireland's meeting with England at fly-half as Johnny Sexton and Joey Carbery struggle with injury.
An unchanged England chose to bowl first as Australia made three changes for the third Ashes Test at Headingley.
MMA promotion Bellator has signed former England rugby union star James Haskell, who is expected to make his debut in 2020.
Glamorgan got far more than they expected after taking "a bit of a punt" on Marnus Labuschagne, as Mark Wallace explained to Omnisport.
Steve Smith will miss the third Test due to a blow to the neck, but Tim Paine has no doubts the batsman will quickly be back to his best.