ICC chief executive Malcolm Speed condemned the incident and said such behaviour would not be tolerated.
"The fact that this is an isolated incident by a small number of people in one country does not lessen the game's resolve to address the issue," he said in a statement.
"We have in place an international anti-racism policy which all of our members have signed up to.
"Each of our members is committed to implementing this policy which deals firmly with the issue including the ejection of those responsible for this type of unacceptable behaviour.
"Cricket Australia (CA) has reaffirmed its commitment to the ICC's anti-racism policy and has emphasised that it is taking the matter very seriously.
"Cricket is an international game which is played by a diverse range of cultures and communities...racist comments have no place in cricket."
The South Africans complained about the incident during third day's play to match referee Chris Broad and John Rhodes, who manages the ICC's Anti-Corruption and Security unit in Australia and New Zealand.
A statement issued by the team's management said racial slurs and chants were directed at Ashwell Prince, Garnett Kruger, Shaun Pollock, Justin Kemp and Makhaya Ntini during the third day's play.
"We hope this will not happen again and appeal to all to abide by the ICC's anti-racism policy," United Cricket Board chief Gerald Majola said in a statement.
"We thank the relevant authorities for the assurance that the necessary protection for our players for the rest of the tour will be in place."
CA confirmed its zero tolerance policy towards those involved in racist chants.
"The spirit of cricket demands that the game be played and staged in a good spirit and CA wants all cricketers and cricket lovers to feel welcome wherever they play or attend international games," CA spokesman Peter Young was quoted as saying on the BBC website.
"CA and its constituent state cricket associations support the International Cricket Council's (ICC) formal anti-racism policy which imposes conditions, such as ejection, on patrons who misbehave."
