The tourists had looked on target to chase down a 275-run target at the MCG when Johnson Charles struck his maiden century to match Voges, who scored a magnificent unbeaten 112.
The West Indian opener struck a boundary to bring up his 100 off 120 balls, including eight fours and a six. But he fell next ball, caught by Ben Cutting at square leg playing a poor shot to Clint McKay. He had ridden his luck, surviving two dropped catches and two television reviews.
(With inputs from AFP)