Cricket South Africa (CSA) announced on Thursday that Kallis, who has been out of the ODI squad for close to 20 months, will play in the series taking place in November and December respectively.
Kallis, a veteran of 321 matches in the 50-over format, played his last ODI against New Zealand in February, 2012 and will replace .
"The return of Kallis means that Faf du Plessis has to drop out," commented CSA selection convener Andrew Hudson.
"There is no substitute for the experience he brings to the game. We have a number of young batting talents in the squad such as Quinton de Kock and David Miller and the more experience they have around them, the better it will be for their development."
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Test captain Graeme Smith also returns to the ODI squad after making a complete recovery from his injury.
"We have dropped Robbie Peterson out of the squad as Imran Tahir is in outstanding form and we are unlikely to use more than one specialist spinner in a home series. He will be able to gain valuable time in the middle playing in the (local) Sunfoil Series," Hudson said.
South Africa squad: AB de Villiers, Hashim Amla, Quinton de Kock, JP Duminy, Imran Tahir Jacques Kallis, Ryan McLaren, David Miller, Morne Morkel, Wayne Parnell, Vernon Philander, Graeme Smith, Dale Steyn, and Lonwabo Tsotsobe.