The first Test will take place in Cape Town on Saturday 11 June with the Johannesburg and Port Elizabeth games on 18 and 25 June.
Ireland have never beaten the Springboks in a Test in South Africa.
However, the Irish have won four of their last six meetings including the 29-15 win in Dublin last November.
Ireland's three Tests against World Cup bronze medallists South Africa next June will be played in Cape Town, Johannesburg and Port Elizabeth.