Chris Woakes took two wickets in the 62nd over, dismissing Mitchell Marsh and Cameron Green.
Mitchell Marsh was caught by Jonny Bairstow for 51, while Cameron Green was lbw to Woakes for 16.
Australia reached 300 for 7 at the end of the day, with Mitchell Starc unbeaten on 17.
Starc hit four boundaries in the final overs of the day, including a six off Moeen Ali.
Zak Crawley scores his second Test century, reaching 189 off 182 balls.
Joe Root scored 84 off 95 balls before being dismissed by Josh Hazlewood.
Mitchell Marsh takes 2 wickets for 70 runs.
England reach 384/4 at the end of the day, with a lead of 36 runs.