The umpires intervened twice at LC de Villiers Oval in South African Highveld city Pretoria after sledging between the pair became heated for the second consecutive day.
Vaughn van Jaarsveld pulled Tsolekile away from Warner as the war of words boiled over on the final day of a four-day match staged in warm mid-winter conditions.
“No report has been filed by the umpires and no action will therefore be taken,” said a Cricket Australia statement responding to the drama.
Warner failed to match his superb 193-run first innings, but hit six fours off 53 balls before being caught by Tsolekile off the bowling of Beuran Hendricks.
Photos: Shah Rukh Khan, Shweta Bachchan at Karan Johar's book launch
Photos: Sunny Deol with sons Karan and Rajvir at Mumbai airport
Photos: 10 beautiful moments that capture winter around the world
Photos: Karisma Kapoor, Preity Zinta, Shraddha Kapoor at Mumbai airport
Spotted: Anushka Sharma and Diljit Dosanjh at Mumbai studio