The All Blacks will play South Africa in a test at Twickenham on the eve of next year's 2023 Rugby World Cup in France.
The clash on August 25 will come two weeks before the start of the global men's tournament.
"The Springboks and All Blacks share one of the greatest rivalries in rugby, and to face them at Twickenham will be an exciting experience for the players and our fans," said SA Rugby's Rassie Erasmus.
New Zealand open their campaign against hosts France on September 8, and then also take on Namibia, Italy and Uruguay in Pool A.
South Africa, who won the last World Cup in Japan in 2019, have already announced a warm-up test against Wales in Cardiff on August 19 before they begin the defence of their title with Pool B games against Scotland, Romania, Ireland and Tonga.
"The match will take place shortly before we kick off our World Cup campaign, and both this encounter and the test against Wales will be vital for us to measure ourselves before the competition and to put the final building in blocks in place so that we can enter the showpiece in the desired form," Erasmus said.
The fixture is only the second time the All Blacks and Springboks have met in London.
Owen Farrell ruled out of England training camp
England skipper Owen Farrell has withdrawn from the squad that is travelling to Jersey for their training camp ahead of the November internationals as he continues to recover from a concussion, the Rugby Football Union said.
Farrell was knocked unconscious during Saracens' Premiership victory over Exeter Chiefs on Sunday and he was replaced immediately.
Return-to-play protocols dictate a concussed player must stand down for a minimum of 12 days, which could make the flyhalf a doubt for their first match against Argentina at Twickenham on November 6.
"Owen Farrell will progress through his graduated return to play protocols at home," the RFU said.
Jonny May (dislocated elbow) and Henry Arundell (ankle) have also withdrawn. Tom Roebuck has been called up for the first time while Adam Radwan and Henry Slade also return.
Arundell and prop Will Stuart (knee injury) are both travelling with the squad but will rehab in Jersey.
England also play Japan, New Zealand and South Africa next month.
- Reuters