Warner was 90 not out off 72 balls, with 10 boundaries and two sixes, to provide a rare highlight in a Test frequently marred by wet weather.
Mitchell Marsh was unbeaten on 10 when a passing shower forced an early tea break.
Jomel Warrican took the only wicket of the session, having Joe Burns caught by a leaping Kemar Roach at mid-on for 26.
Having waited five days to get to the crease, Warner wasted little time in asserting himself on the West Indies attack. He reached his half century off 42 balls with a six off Warrican and was within sight of his 16th test century at tea.
After a delay of 45 minutes at the start of the day as the pitch was uncovered for the first time in three days, the West indies lower-order batsmen defied Australia's attack for an hour and a half as the visitors recorded its highest innings total of the series.
O'Keefe finished with 3-63 in his first Test in Australia.
West Indies captain Jason Holder declined the opportunity to declare before play, meaning the match was drifting toward a draw in front of the few thousand fans who took advantage of free entry to the SCG.
Persistent rain had washed out play from tea on day two, marking only the fifth occasion in more than a century of test cricket in Australia in which play was abandoned for two consecutive days because of rain.
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