Tendulkar, 37, reached the landmark 56 minutes after tea when he drove fast bowler Dale Steyn through the covers after batting for 258 minutes and facing 197 balls.
No other batsman has scored more than 39 Test centuries.
It was an almost flawless innings by the Indian batting maestro as he and captain Mahendra Singh Dhoni made a valiant effort to save their team from an innings defeat.
When he reached his century he and Dhoni had put on an unbeaten 160 for the seventh wicket and were within 47 runs of making South Africa batting again.
Tendulkar, who has been playing international cricket for 21 years, has hit centuries against every other Test nation.
His tally is made up of 11 hundreds against Australia, nine against Sri Lanka, seven against England, six against South Africa, five against Bangladesh, four against New Zealand, three each against West Indies and Zimbabwe and two against Pakistan.
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