South Africa also did themselves no favours when Dale Steyn peppered tail-ender Ryan Sidebottom with some short-pitched deliveries after a rain break in the final session.
Pietersen, 104 not out overnight, survived a caught-and-bowled chance to Jacques Kallis after scoring 133 to reach his fifth test score over 150.
He was finally dismissed after hitting 20 fours and a six, caught behind by Mark Boucher from an attempted hook off Morne Morkel.
Collingwood, to his dismay, was given out caught at short-leg by Hashim Amla off slow left-armer Paul Harris and Ambrose's wretched international form continued when he edged Morkel to Smith at first slip.
Scorecard | Match report
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