A remarkable burst from Graeme Swann (3-22) and Stuart Broad (3-18), which saw four wickets fall for seven runs, reduced South Africa to 50-6.
The hosts were 76-6, still 156 behind, when bad light and rain ended play.
England had earlier declared on 575-9, 232 ahead, with Ian Bell making 141 from 227 balls and Matt Prior 60.
As South Africa then reached a fairly comfortable 27-0 from their first nine overs in their second innings on a wicket with a reputation for going flat, the draw looked the likeliest result by a long way.
But Swann removed Ashwell Prince with his second ball, thanks to a sharp catch from Bell at silly point, and clean bowled Hashim Amla on the stroke of tea.
Bell, whose place has been under intense scrutiny, reached his ninth Test century and first since July 2008 with a lofted on-drive for four off Paul Harris, but the run-up to lunch was otherwise a dull passage of play, with neither Bell nor Broad showing much adventure.
Thankfully, that all changed after lunch as Broad muscled Harris onto the grass banks for six in an over costing 15, before edging Duminy to slip.
Swann wasted no time playing himself in, pulling Makhaya Ntini for a huge six in making 22 from 14 balls, and Bell added two post-lunch boundaries before finally chasing a wide one from Dale Steyn. The declaration followed 10 balls later.
Wednesday, which should provide at least two full sessions of clear weather should they be needed, is likely to see Centurion man of the match Swann take centre stage once again.
It has been quite a 12 months for the Nottinghamshire man, who on Tuesday became the first English spinner to take 50 wickets in a calendar year.
Paul Collingwood, meanwhile, dislocated a finger in the warm-up on Tuesday and is unlikely to play any further part in the match. However an X-ray has confirmed there is no fracture and he may be available for the third Test in Cape Town from 3 January.
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