Skipper Pat Cummins announced the news on Wednesday ahead of the day-night Test at Adelaide Oval starting on Thursday.
Hazlewood was forced out with a side strain with Richardson, who played two Tests in 2019, given the nod ahead of the uncapped Michael Neser.
Warner had been battling bruised ribs and didnt bat in Australia’s second innings. He seemed to nurse the issue at training on Tuesday but has been given the green light with Usman Khawaja waiting in the wings.
“He’ll be right,” Cummins told reporters. “He had a bat yesterday, batted with a bit of discomfort but knowing Davey, he’s not going to miss this one. Once adrenaline and everything kicks in, (he’ll be) a little bit sore but he’ll be fine.
“It’s one thing batting in the nets but another thing when you walk out and it’s a packed crowd. I don’t think he had any kind of painkillers or anything yesterday.
“He’s played close to 90 Tests, I’m sure a lot of them have been played in discomfort or with (niggles) going into the game. He’ll be fine tomorrow.”
He added: “If Davey didn’t feel like he could be as good as normal, he wouldn’t be playing.”
Richardson’s inclusion comes after stellar form in the Sheffield Shield for WA, taking 23 wickets in four games. He wasn’t played in the Australia A tour match where Neser was Player of the Match with seven wickets.
“Jhye has been battling his way back since but if we go back to 2019, he played two really good Tests and was on the verge of an Ashes series and a World Cup before his shoulder injury,” Cummins said.
“He’s worked incredibly hard, had a great start to this year for WA and we think he’s firing. He’s really skilled, can swing the ball both ways and can nip the ball. He’s a bit faster than you think. Can be around that 140km p/h mark.”