Australia striker Josh Kennedy (left) scores the game's only goal as Iraq goalkeeper Noor Sabri dives during their World Cup qualifying game at Stadium Australia in Sydney yesterday.

Asian giants Iran, South Korea and Australia reached the 2014 World Cup but Uzbekistan narrowly failed to book its place on a dramatic night of action yesterday.

Australia left it late before substitute striker Josh Kennedy earned a 1-0 win over Iraq in Sydney, enough to take the Socceroos through to their third successive World Cup.

Later, Iran edged a grudge match with South Korea 1-0 in Ulsan to qualify top of Group A, giving the host some nervous moments as it awaited news from Tashkent, where rival Uzbekistan was playing Qatar.

The Uzbeks smashed five second-half goals past the Qataris but despite their 5-1 win, they failed to reach their target of winning by seven goals and now go into a playoff series against either Jordan or Oman, who were playing later.

Iran, South Korea and Australia now join Japan, the Asian Cup-holder which booked its ticket a fortnight ago, at next year's World Cup as the only countries to have qualified alongside host Brazil.

Although all four Asian qualifiers are familiar names at the World Cup, the year-long elimination process has been hard-fought and came down to the last week of the final group stage.

Tensions were high yesterday evening and especially in Ulsan, where South Korea's game with visiting Iran had been preceded by some angry verbal jousting between the opposing camps.

Ex-Middlesbrough striker Lee Dong-gook tested goalkeeper Rahman Ahmadi with a stinging attempt from a distance but despite dominating the first half, South Korea struggled to create clear chances.

Iran started the second period with more ambition and on 59 minutes, it was suddenly in front thanks to a defensive howler from Kim Young-gwon and the alert thinking of Reza Ghoochannejhad.

Defender Kim failed to make a simple clearance on the touchline and had his pocket picked by Ghoochannejhad, who scampered goalwards and bent a left-footed shot around Jung Sung-ryong.

The host pressed desperately for the equalizer and Kim nearly made amends for his mistake when he put a free header wide near the end. Lee Keun-ho also nearly headed the leveller in injury time.

However, the Taeguk Warriors clung on to Group B's second automatic qualifying spot and reached their ninth World Cup on goal difference, despite Uzbekistan's heroics in Tashkent.

Earlier in Sydney, Australia wasted countless chances in wet conditions before coach Holger Osieck replaced a visibly angry Tim Cahill with Josh Kennedy in the 77th minute.

But the towering Nagoya Grampus striker justified the substitution when he saved the day with a clinical 83rd-minute header that sent the crowd wild.

"I'm sorry it wasn't pretty, but we beat them," said captain Lucas Neill.

"We've got to keep pushing ourselves," he added. "Let's look at the positives tonight - we're going to Brazil!"