While the influence of precession on monsoon at low latitudes through insolation forcing is well-known, the role of obliquity is still debated since its influence on the distribution of incoming solar radiation is small in these regions. In southern Africa, long marine and terrestrial sedimentary records attest of a precessional influence on the South African monsoon at orbital time scale. The obliquity signal is occasionally observed in the geological records although modeling results suggest an influence of precession and obliquity on summer monsoon. Here, we present a record of microscopic charcoal from core MD96-2098 located off Namibia covering the past 184,000 years. Our record of fire activity reveals cyclic changes at frequencies of 23, 58 and 12 kyr−1 and lacks the obliquity signal at 41 kyr−1. Changes in fire over southern Africa are interpreted as shifts in large and intense fires spreading in open-grassland savanna as a result of orbitally-driven changes in rainfall intensity associated with the South African monsoon. We show that, despite the absence of a 41 kyr obliquity imprint, the presence of 23, 58 and 12 kyr−1 frequencies likely stems from a nonlinear response of fire to precipitation controlled by a combination of precession and obliquity frequencies, supporting the influence of obliquity on the South African monsoon.