It is a repeat of last season's opening-day clash, which Saints won 21-13 to kick-start their return to the big time.
The Warriors are also the only side Saints beat away in the league last season – so the fixture list could not have been kinder.
However, it is followed by difficult trips to Gloucester and Saracens.
"We will certainly be taking Worcester very seriously," said Mallinder.
"Last season's matches against the Warriors were both tight with less than 10 points between the two teams on each occasion.
"We will have to get our preparations right during the pre-season.
Saracens and Gloucester are always difficult places to visit and with three of our opening five games all being away from home there will be a lot of pressure to begin the campaign well."
The first East Midlands derby of the campaign is on October 30, 31 or November 1 at Welford Road, with the return clash at Franklin's Gardens on February 26, 27 or 28.
Ben Cohen will make his return to Franklin's Gardens with his new club Sale on October 23, 24 and 25.
Three dates have been given to every fixture as Sky have yet to decide which games they will be screening live.
Saints end the Premiership season with a trip to London Irish.
Mallinder added: "Although it will be good to start next season in front of our own supporters here at Franklin's Gardens we are under no illusions regarding how difficult our first few matches will be.
"The Guinness Premiership is a very competitive league and all 12 teams have to be treated with respect."
Meanwhile, England Students full-back Grant Pointer is among four players to join Saints' senior academy.
No.8 James Ingle, fly-half Christian Lewis-Pratt and prop Alex Waller are also joining and all played for the Wanderers last season.