ITV1's coverage of the game was beaten by 'EastEnders' on BBC One from 8pm to 8.30pm, which pulled in an average audience of 7.4m and a 35% share, according to unofficial overnight figures.
The match against South Africa, which was billed as England's biggest game since winning the Rugby World Cup in Sydney four years ago, could only manage a peak of 6m and a 28% share of viewers at 8.30pm.
ITV1's live coverage of England's second game in the group stage was scheduled in a 7.30pm-10pm slot.
England's first game, against the USA last Saturday, drew 2.2m and a 15% share in an early evening slot.
The result against South Africa leaves England now needing to beat Samoa in their next group stage match on September 22, to avoid becoming the first defending champion to exit in the group stage.