Sydney Roosters prop Lindsay Collins is promoted to the starting line-up in the only personnel change to the team that started at Wembley, with Patrick Carrigan moving into the loose forward role vacated by Yeo.
Lindsay Smith, Yeo’s Penrith Panthers club-mate, steps up to the bench, with Jacob Preston named among the reserves.
“Harry and all of the senior players for that matter stepped up after Isaah’s unfortunate injury last week,” said former Kangaroo half-back Walters.
“While we’d love to have Isaah out there, he’ll still be contributing in many other ways around the group this week. He’s a natural leader, and so too is Harry so we’re in great hands this week.
“I’m really pleased with the way we’ve started the series, but we’re into a new week now and our focus is on preparing well and being at our very best this Saturday.”
Brisbane Broncos superstar Reece Walsh will again play at full-back, having scored two tries and won the man-of-the-match award on his international debut at Wembley.
Saturday’s second Test, and the third at AMT Headingley on 8 November, both kick off at 14:30 GMT and are live on BBC One.
Australia: Reece Walsh, Mark Nawaqanitawase, Kotoni Staggs, Gehamat Shibasaki, Josh Addo-Carr, Cameron Munster, Nathan Cleary, Lindsay Collins, Harry Grant (captain), Tino Fa’asuamaleaui, Angus Crichton, Hudson Young, Patrick Carrigan.
Interchanges: Tom Dearden, Lindsay Smith, Reuben Cotter, Keaon Koloamatangi.
Reserves: Bradman Best, Jacob Preston, Mitchell Moses.
