Leg-spinner MacGill was the only change to the side that thrashed England in each of the first three Tests to clinch the five-match series. Warne was ruled out of the fourth test after dislocating his right shoulder in a one-day match against England.
Although he has not played a Test in almost a year, MacGill was expected to be chosen to replace Warne after capturing 82 wickets in his 17 test appearances.
"He is a high-class performer with a big-match temperament, something that is shown by his figures in Test matches, and he has an outstanding record against England," Australia's chairman of selectors Trevor Hohns said in a statement issued on Sunday.
"We are delighted to be able to call on someone of his ability as we look to continue our good form in this series."
Australia squad: Steve Waugh (captain), Justin Langer, Matthew Hayden, Ricky Ponting, Damien Martyn, Darren Lehmann, Adam Gilchrist, Brett Lee, Jason Gillespie, Stuart MacGill, Glenn McGrath, Andy Bichel.