Warner completed 22-of-32 passes for 285 yards with scoring throws of 2 and 29 yards to Anquan Boldin and a 34-yarder to Larry Fitzgerald.
Rackers' field goals were from 31, 30 and 29 yards.
Arizona (8-4), atop the NFC West, has a three-game lead over San Francisco and Seattle. The Cardinals can clinch the division title with a win over the 49ers Dec. 14.
Brett Favre threw scoring passes of 3 yards to Visanthe Shiancoe and 31 yards to Percy Harvin for Minnesota (10-2), which also had a 25-yard field goal by Ryan Longwell.
Favre ended up with 30 completions in 45 attempts for 275 yards.
Minnesota remains atop the NFC North, 2 1/2 games in front of the Green Bay Packers.