Rabada shared the limelight in South Africa's bowling effort with Morne Morkel, the retiring fast bowler who took his 300th Test wicket on the way to 4/87.
Smith said in the lead-up to the third Test in Cape Town that Rabada's successful appeal against a two-Test ban was "interesting". He questioned why he was not invited to give his side of the story at the judicial hearing.
Rabada was found not guilty of the charge of making inappropriate and deliberate physical contact with a player following a hearing before the Right Honourable Michael Heron QC.
Judicial commissioner Michael Heron, who heard the appeal, said he couldn't be "comfortably satisfied" that Rabada intended to make contact with Smith and found him not guilty of the charge under the ICC's code of conduct.
Kagiso Rabada inclusion in the squad remains stable as no decision has yet been made by the International Cricket Council (ICC).
Rabada was suspended for the remaining two matches of the ongoing four-Test series against Australia after being found guilty of a Level 2 ICC Code of Conduct offence of 'inappropriate and deliberate physical contact with a player'.
Former South Africa cricketer Paul Harris brought Virat Kohli into the controversy, saying the India skipper acted like a "clown" during India's tour to South Africa and yet faced no consequences by the world cricket body for his behaviour.
The Proteas pacer will remain under suspension unless the commissioner permits him to play in the third Test, which will commence from March 22 at Newlands, Cape Town.
Rabada was suspended for South Africa's remaining two Tests of the four-match series against Australia after being found guilty of ICC Code of Conduct offense.
Rabada's heroics helped South Africa defeat Australia by six wickets in Port Elizabeth to level their four-match series at 1-1.
The decision by the International Cricket Council was announced just hours after Rabada was the star of the show in the second Test at St. George's Park.
South Africa clinched its win in Port Elizabeth by chasing down the meagre target of 101 before tea on the fourth day.
The International Cricket Council says it has charged the South Africa fast bowler with a level one offense for screaming in the face of Warner.
The four-Test series is at a key point, with Australia 1-0 up but facing a South African fightback at St. George's Park.
Rabada bumped into Smith with his shoulder during his follow-through after dismissing the Australia skipper lbw on Friday at St. George's Park.
Rabada took five wickets in 18 balls in a blistering spell just before and after Tea at St. George's Park, sending the Australians slumping from 161/3 to 182/8.
Kagiso Rabada admitted the offence and accepted the sanction proposed by match referee Andy Pycroft.
Rabada was seen sledging Kohli after the on-field umpire adjudged Kohli LBW.
A depleted South Africa have not been able to compete against India in the ongoing ODI series but Rabada believes that all is not lost for the home team.
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