Renshaw showed fight in that first Test but I think the batters were utterly disgraceful."Australia then dropped anchor in a bizarre period - one scoring shot came in 50 minutes - but Harmer was not to be denied, taking the final wicket for career-best figures of 6-16 as Australia were dismissed for 111.
Although lacking the controversy of the 2018 Sandpaper series, the contest concluded as one of the best in recent memory in the longest format.
The former player launched his attack after the first session of the final day, when all Australian hopes of securing a victory evaporated.
During the innings, Australia dropped anchor in a bizarre period where only one scoring shot came in 50 minutes.
The 15-day series had appeared finely balanced before its final day.
"The batters have let the bowlers down all series,"Warner said."Renshaw showed fight in that first Test but I think the batters have been utterly disgraceful.".
Overall, this series may not have had the controversy of the Sandpaper series of 2018 but has been one of the best in recent memory in the longest format.
Rabada's first spell of five overs returned three wickets for 14 runs as he targeted the stumps with pace and found seam movement.
The series appeared in the balance before its 15th and final day.
Warner's verdict came after the first session in which all Australian hope of victory had evaporated.