Warriors coach Andrew McFadden said he was pleased with his team's defence after they started slowly.
"I didn't think we played that great in the first half - we made a lot of unforced errors but the good part about that was we defended them, so I was really pleased with that," he said.
McFadden said they were not going to get ahead of themselves in setting lofty targets for the year, and would just focus on improving each game when the season begins on March 7.
"We don't make those sort of goals, we just want to improve. We know that if we keep improving and we have faith in how we practise, and the method we go about it, then the outcome will be a positive one."
McFadden said no one had pulled up with any serious injuries during the pre-season game.
The Warriors do not have any more pre-season matches against other NRL clubs before their season opener against Newcastle.
The Warriors were the first to score on Saturday after a big break down the field. A few tackles later, Ken Maumalo finished out wide on the left for the home side.
The Panthers hit back before half time when they finally found a way through, or more accurately around, the Warriors defence. Robert Jennings, the younger brother of Sydney Roosters star Michael Jennings, finished off the try nicely.
The second half was all the Warriors and they took the lead after winger Maumalo scored his second.
Impressive athlete Marata Niukore scored the Warriors' third try and crowd favourite Shaun Johnson finished off the Panthers with the final try of the game.
- Warriors 18 (Ken Maumalo 2, Marata Niukore, Shaun Johnson tries; Chad Townsend con) Panthers 4 (Robert Jennings try).
