The warm up is to, as the name suggests, warm up the muscles to get them ready to work, if you don't have time to do 10 mins then do a gentle jog for 5 and some light stretches the same after your workout, a gentle 5 min jog to get your heart rate and breathing back down and always do stretches after.
If you miss these parts of your workout you will probably find you feel very sore after a while, your muscles get tighter and you will probably end up injured, frustrated and annoyed that you didn't take some advice to heart.
Good luck with the half marathon though.