Jennings was locked in a three way battle with Josh Morris and Brent Tate following Greg Inglis shift to fullback due to Billy Slater being unavailable through injury.
Kangaroos coach Tim Sheens said there wasn't much between Tate, Jennings and Morris in the selection battle.
The decision to go with 25-Test veteran Tate, despite him usually playing on the right, came down to his experience and the fact he'd played alongside winger Darius Boyd in State of Origin for Queensland.
"He becomes a bit of a utility if I have an issue with the backs as well," Sheens said.
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Fellow Rooster Boyd Cordner was the other man omitted from the squad, with fellow rookie Josh Papalii and Nate Myles likely battling for a place on the bench, while Robbie Farah was included in the squad but it's unlikely he will oust Daly Cherry-Evans for the interchange utility spot.
The Bondi Club will however be represented out in the middle at Wembley with young-gun Kane Evans, who is yet to feature in the NRL for the Tricolours, likely to be named on the Fijian bench.
Australian 19-man squad: Cameron Smith (capt), Paul Gallen (vc), Greg Bird, Darius Boyd, Daly Cherry-Evans, Cooper Cronk, Robbie Farah, Andrew Fifita, Jarryd Hayne, Greg Inglis, Brett Morris, Nate Myles, Josh Papalii, Corey Parker, Matthew Scott, James Tamou, Brent Tate, Sam Thaiday, Johnathan Thurston.