No, he will not be let off with a warning, but juvenile diversion is a likely outcome. This generally involves some community service in exchange for not pursuing the charge.
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Mr. Harkess is correct. It is too late for just a warning. However, diversion for a first offense for a juvenile is very common. That will likely include UPS (community service) hours, a letter of apology to Walmart, and possibly a promise not to return to that Walmart for a period of time.
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A warning? No. He may, however, be offered Diversion, as mentioned by my colleagues -- or he may be offered something called a deferred prosecution. That means he would have to comply with some certain terms and conditions over a certain time period and if he keeps his nose clean, he will see the case dismissed before he is ever forced to enter a plea.
Good luck to him and you. If this is the worst thing that happens over the teen years, things will be okay!!
In no way am I offering you legal advice, and in no way has my comment created an attorney-client relationship. You are not to rely upon my note above in any way, but insted need to sit down with counsel and share all relevant facts before receiving fully-informed legal advice. If you want to be completely sure of your rights, you must sit down with an experienced criminal defense attorney to be fully aware of your rights.