Warburton, who was sent off during the semi-final loss to France, retains leadership duties despite last season's Wales captain Matthew Rees returning to the squad after missing the World Cup because of injury.
The notable absentee from coach Warren Gatland's 28-man squad is Scarlets fly-half Stephen Jones.
Jones, who has won a record 104 Wales caps, does not feature, with Gatland recalling Ospreys number 10 Dan Biggar as a fly-half option alongside Rhys Priestland.
None of Wales' overseas-based contingent, notably French club players James Hook, Mike Phillips and Lee Byrne,
were made available for selection.
Because the December 3 Millennium Stadium encounter falls outside the International Rugby Board-recognised Test match window, the clubs were under no obligation to release them.
While speculation will inevitably intensify that 33-year-old Jones is at the end of his international career, wing Shane Williams is set for one final game before Test match retirement.
Williams, Wales' record Test try-scorer with 57 touchdowns, has said he will step down from the Test arena after the Australia game.
Biggar and Ospreys lock Ian Evans return to the international fold - Biggar has not played for Wales since a 16-16 draw against Fiji last November - while Gatland has also called up three uncapped players in Scarlets full-back Liam Williams, Cardiff Blues wing Alex Cuthbert and Newport Gwent Dragons flanker Lewis Evans.
Centre Jamie Roberts, prop Adam Jones, lock Luke Charteris and flanker Dan Lydiate are all included despite suffering injuries in recent weeks.
But experienced Ospreys second-row forward Alun-Wyn Jones misses out after being told he requires surgery on his foot.
Wales squad for Test match against Australia at the Millennium Stadium on December 3.
Backs: D Biggar (Ospreys), A Cuthbert (Cardiff Blues), J Davies (Scarlets), L Halfpenny (Cardiff Blues), T Knoyle (Scarlets), G North (Scarlets), R Priestland (Scarlets), J Roberts (Cardiff Blues), Liam Williams (Scarlets), Lloyd Williams (Cardiff Blues), Scott Williams (Scarlets), Shane Williams (Ospreys).
Forwards: S Andrews (Cardiff Blues), H Bennett (Ospreys), R Bevington (Ospreys), L Burns (Newport Gwent Dragons), L Charteris (Newport Gwent Dragons), B Davies (Cardiff Blues), I Evans (Ospreys), L Evans (Newport Gwent Dragons), T Faletau (Newport Gwent Dragons), G Jenkins (Cardiff Blues), A Jones (Ospreys), R Jones (Ospreys), D Lydiate (Newport Gwent Dragons), M Rees (Scarlets), J Tipuric (Ospreys), S Warburton (Cardiff Blues, capt).
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