After the hosts imposed a follow-on, South Africa were bundled out for 189 in the second innings as Umesh Yadav and Ravindra Jadeja scalped three wickets apiece. Off-spinner Ravichandran Ashwin claimed a couple of wickets while Ishant Sharma and Mohammed Shami bagged one wicket each.
Earlier, Ravindra Jadeja remained the wrecker-in-chief after the lunch break as he spun a web around the South Africa batters. Quinton de Kock (5) was the first to depart after the first session, trying to slog-sweep Jadeja and losing his stumps in the process.
Ajinkya Rahane then pulled off a stunning catch to remove Bavuma (38) off Jadeja while Senuran Muthusamy (9) was removed by Mohammed Shami, Rohit Sharma taking a catch at second slip.
The first session though belonged to India stumper Wriddhiman Saha's brilliance behind the stumps as the 34-year old took a stunning one-handed diving catch off Umesh Yadav's delivery to dismiss Theunis De Bruyn (8) in the sixth over of the innings.
Saha's effort left all his teammates amused as skipper Virat Kohli came running to congratulate the diminutive wicketkeeper whom he hailed as the best in the world a few days back.
India posted 605 runs following Virat Kohli's unbeaten knock of 254. South Africa were bowled out for 275 in the first innings. India now lead the three-match series 2-0. The final Test will be played in Ranchi, starting October 19.
This is also South Africa's first innings defeat since losing by an innings & 57 runs against India in Kolkata in Feb 2010. Also, the second instance of India beating South Africa by an innings margin.