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Retiring wicketkeeper-batsman Adam Gilchrist struck a superb 118, while Michael Clarke scored 43 for the Aussies after captain Ricky Ponting elected to bat.
Malinga struck in the fourth over to remove hard-hitting opener Matthew Hayden (4) and then picked up Ponting, who scored a run-a-ball 25.
Gilchrist, who flourished at one end, stayed on to establish a 105-run partnership with Clarke and bail out Australia.
But Sri Lankan bowlers continued to attack the hosts scalping Clarke and all-rounder Andrew Symonds (4) in successive overs.
After Gilchrist's departure, Australia lost remaining half of its batting line-up in seven overs as their innings folded with two balls to spare.
Earlier, Gilchrist entertained the WACA crowd with his fireworks. He sent nine hits to the fence and struck three sixes in his 132-ball knock before falling prey to Malinga.
Gilchrist was trying to loft one over long-off and a leading edge went to Chamara Kapugedera at the covers to end centurion's innings.
Tail-enders Brad Hogg (5) and Brett Lee (2) were the other victims of Malinga.
The Sri Lankan pacer fired a yorker to clean up Lee and end the Aussie innings.
Nuwan Kalusekara picked two wickets for Sri Lanka.
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