The best camping near Warrensburg with campfires

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Looking to go camping near Warrensburg, Missouri? Hipcamp has over 730 options for you to choose from, with accommodations ranging from tent camping to RV hookups. Whether you prefer a lakeside retreat or a secluded forest getaway, you'll find the perfect campsite to suit your needs. With an average price per night of $41 and options as low as $6, there's something for every budget. Check out some of the top campsites in the area, like Harmony Lake Farm Park & Playground (292 reviews), Selby Farm Horse Retirement (240 reviews), or Milo Farm Sacred Land (134 reviews). Enjoy popular amenities like potable water, cooking equipment, and showers, and partake in activities such as snow sports, fishing, and climbing. Start planning your camping adventure today!

96% (1.5K)

Top-rated campgrounds

Milo Farm Sacred Land

1. Milo Farm Sacred Land

98%
(457)
34mi from Warrensburg · 25 sites · Tents, RVs, Lodging · Buckner, MO
Milo Farm was established organically a few years ago. The energy at Milo so amazing we wanted to share! There's a story behind the sacredness of this land, Loni can share that with you if you ask! There are 5 different ecosystems at Milo, all which hold their own magic!🪄 The lodge was built then the camping sites, then the Hippie Trailer, which is located near the west woods near the Fairy Forest. Then the Bunkhouse was established, it's just past the barn on the north end of the property. The lodge, where the Airbnb and pool are is centrally located on the land. We rent out the lower level guest quarters for non-campers. There are 2 stocked ponds, miles of trails, pool, Zen garden, farm animals and more. For diehard campers the beauty of primitive pack-in/pack-out camping of Freedom Field is a joy! Feel the energy of the sacred land. Find the vortexes here! Bless Mother Earth and spend some time in nature at this magical place Great for the spiritually minded with several meditation spots and portals. Ask about availability of the art golf cart rental if interested. Loni can take you on a guided history, nature and meditation hike if you sign up for that. There are events happening some weekends you can participate in. We have a Call to Prayer 9:30am every day in the Art Studio/Spirit Shack, you may join us! Loni is a spiritual intuitive and can do a reading using the Milo Farm Oracle cards she created! Ask for availability of these things. Milo has a lot to offer! Located in Eastern Jackson County MO, just 30 minutes from downtown Kansas City & 20 min from the sports stadiums.
Pets
Potable water
Toilets
from 
$30
 / night
Harmony Lake Farm Park & Playground

2. Harmony Lake Farm Park & Playground

99%
(1020)
27mi from Warrensburg · 33 sites · Tents, RVs · Wellington, MO
Harmony Lake welcomes you to our Farm. We are proud to be a registered member of Missouri Agritourism. Agritourism connects our guests with the great outdoors via Farm Stay. We hope you enjoy your stay at Harmony Lake Farm. We are walking distance to Harmony Lake: a private 12-acre lake for fishing, swimming and paddle boats. Our lake is home to record large-mouth bass and Missouri's longest free-floating walkway leading to a private island. We are located just 15-minutes from the highway and one hour to sites and attractions of Kansas City. We are 15-minutes to Lexington historic district or Odessa. We have a variety of tent and RV sites for your party to choose from so just reach out if you would like clarification on anything. Campfires and pets are allowed and all sites have access to bathroom with shower, trash bins, and an outdoor grill house.
Pets
Potable water
Toilets
from 
$25
 / night
Sankara Farm

4. Sankara Farm

100%
(3)
40mi from Warrensburg · 6 sites · Tents · Kansas City, MO
Sankara Farm is a 30-acre, family owned and operated Afroecological farm. We also are proud to offer NorthStar Event Space, positioned in the natural beauty of the Little Blue River Valley, located right in the heart of Kansas City, Missouri. We are situated close to biking trails, retail, restaurants, shops and both Arrowhead and Kauffman Stadiums. We currently have 10 sites available for tent camping. We have picnic tables and benches as well as fire rings. All sites are nestled in a quiet part of the farm and are situated by a pond that exhales fog in the dawn. Our indoor bathroom has a hot shower and a flushable toilet located a short walk from the campsites. If hiking is your thing, we have 2 miles of groomed hiking trails with rock formations, a small pond, wildlife and native plants all around. Whether you’re an avid or novice fisherman we have a ½ acre private pond, stocked with Bluegill, Crappie and Large Mouth Bass. Catch and release only - please.
Potable water
Toilets
Showers
from 
$50
 / night
Liberated Grounds

6. Liberated Grounds

92%
(6)
44mi from Warrensburg · 5 sites · Tents, RVs · Kansas City, MO
Welcome to Liberated Grounds – A Sanctuary for Soul, Soil & Story Tucked away on a 100-year-old property in Kansas City, Liberated Grounds is more than just a campsite — it’s a refuge for renewal, creativity, and connection. Here, the land breathes with history, imagination, and freedom. Pitch your tent beneath tall shade trees or rest and retreat in on the ranch. Whether you’re here to unplug, meditate, garden, write, or simply listen to the birds, there’s a place for you. Expect intentional stillness. Expect community if you want it, and solitude if you need it. This is a land in transformation — and you’re invited to be part of the story. ✨ What You’ll Experience • Open space for tent camping or car camping (we can provide tents) • Fire pits, hammocks, and garden beds • A creative atmosphere — perfect for artists, healers, and daydreamers • Access to seasonal programming: sound baths, campfire poetry, nature journaling, and self-guided rituals • Amenities: Bathroom access, water, ranch home + more amenities coming soon: compost toilet & solar lights 🌿 Perfect For: • Solo travelers, couples seeking peace, or day groups • Creatives needing a nature reset • Families introducing kids to eco-living • Spiritual folks craving Earth-aligned spaces Come as you are. Leave lighter.
Pets
Potable water
Toilets
from 
$30
 / night
Our most lovable guests.....

10. Green Acres at Red Brick Farmhouse

98%
(211)
19mi from Warrensburg · 6 sites · Tents, RVs, Lodging · Higginsville, MO
A quiet country retreat nestled in the picturesque rural outskirts of Higginsville, Missouri. Our place consists of three RV sites with water and electric hookups, two camping sites and one on-site travel trailer for rent. Wifi is available at all sites, except for Site 3. Green Acres at Red Brick Farm is located just 50 miles east of Kansas City off of I-70 at Exit 49. Once you are off of I-70 your drive is less than 8 minutes away on all blacktop roads. Site 2 is on gravel with 30 amp hookup and water, preferably best for RV’s and trailers 25’ and under. Site 1 and Site 3 are on gravel with a 20/30/50 amp hookup and water, best suited for larger RV’s and trailers. You may choose your site location, but due to the small number of sites we have we may have to alter your choice. This is so we can accommodate our guests in the best way possible, depending on the size of each rig. If you are towing a vehicle or pulling a trailer your total length should be 55’ or under. We will not accept Triple Axels. Site 4 and site 5 are for tents, pop ups, very tiny trailers and are in flexible locations. A 20 amp standard outlet can be provided for site 4 and site 5. For your use is a shower, toilet, and bathroom sink in our farmhouse basement. Please arrive before dusk, so you don’t disturb other campers. Site 6 Is the on-site travel trailer, ‘Ain’t She Cute’. No Pets are allowed when reserving ‘Ain’t She Cute’. The vintage style travel trailer is completely renovated and decorated with collectibles and antiques and is available for booking. It is furnished with a queen size bed, tiny kitchen, TV, wifi, and full size, not trailer size, bathroom. The trailer is for 2 guests, but an additional guest may sleep on the daybed, preferably a child or small adult. We live onsite in our 1920’s Prairie Style home which is also Red Brick Farmhouse Bed and Breakfast with three Guest Rooms available for booking. Look us up online. At your disposal, is the use of our outdoor furniture, a large yard to walk around in, a fire pit, a BBQ grill, and even a tire swing. Our restaurant, Red Shanty Cafe and BBQ, is located in the town of Higginsville, about 5 miles from Red Brick Farmhouse. Red Shanty Cafe is open Weds and Thurs, 11am - 8 pm and Fri and Sat, 11am - 9pm.
Pets
Potable water
Toilets
from 
$41
 / night
RV parking with bridge leading to clearing.

12. Fangthorn Forest

100%
(50)
33mi from Warrensburg · 1 site · Tent, RV · Garden City, MO
In the 1840's there was a trading post on the property known as Lick Skillet because the owner would set the pans out at night for the dogs to lick.  Today, we call it Fanthorn Forest and it's our dream, our haven and our home.  We love sharing our farm with others and allowing them the same experience of peace and tranquility we get from the land.Learn more about this land:Located only 50 miles SE of Kansas City, MO!  We have woods and pasture with Settle's Ford Wildlife area (fishing and hiking available) 1/4 mile away. Camping is primitive with only an outhouse and no shower facilities. There are MANY thorn trees, so hikers must have proper footwear.  Fire ring, wood and a grate for cooking are provided.  Livestock encounters are also available with owners in attendance.  All proceeds are put back in the farm to care for the animals and the land.  RV's are allowed, but we do not have any hook ups available and they are not allowed in the woods.  Parking area is at the end of the driveway for both cars and RV's.  We love kids and will provide lawn darts or any other games we have available if requested.  Please visit our website at fangthornforest.com for more information.
Pets
Potable water
Toilets
from 
$32
 / night
SundanceKC Ranch

14. SundanceKC Ranch

93%
(7)
45mi from Warrensburg · 6 sites · Lodging · Excelsior Springs, MO
Come enjoy our beautiful 200-acre national park-esque ranch fringed in gorgeous limestone boulders surrounding a spring-fed 15-acre private lake. Make lasting memories with your family and friends swimming, kayaking, or stand-up paddle boarding and, of course, excellent fishing! From glowing tree houses floating above ephemeral streams to Bedouin-style canvas tents perched above rugged stone valleys, this is the way to experience nature at it's finest. With a choice of unique and magical rustic "camp" sites or beautiful, modern accommodations, our serene landscape offers outdoor activities for every skill level and all the amenities one could desire. Located just minutes from Kansas City we are an excellent location for your next stay-cation! Inspired to merge with the unparalleled beauty of our rugged, serene landscape, our unique accommodations reflect a simple, yet sophisticated ambiance. Surround yourself with the comfort of plush bedding and relaxed furnishings, all enhanced by a warm palette of sunny colors that welcome the dawn of the new day. Charm meets modern convenience with complimentary Wi-Fi and a flat-screen television lakeside in the common area.
Pets
Potable water
Toilets
from 
$211
 / night
Where the Sun Rises and Sets

18. Where the Sun Rises and Sets

100%
(1)
45mi from Warrensburg · 2 sites · Tents, RVs · Freeman, MO
Experience the countryside with open views and stargazing opportunities. Enjoy pastured eggs, deer sightings, and the sounds of the neighbor's cattle from a quiet country road. Bird watchers can appreciate the morning serenades. Wildlife activity at night includes coyotes, owls, and frogs. Located 15 minutes east of Louisburg off of 69 highway, and 15 minutes west of Harrisonville off of 49 highway. The local sourdough bakery offers fresh goods on Tuesday, Wednesday and Saturday. A local brewery is a 15-minute drive away, and Bourgmont Winery is situated 30 minutes northwest. If the garden is producing, visitors can help themselves to tomatoes. Yard games and the basketball hoop are available, with equipment to be put away afterward. The fire pit is also available for cooking and s'mores. Visitors are welcome to inquire about regenerative soil practices on the land. As we grow the garden and amend the soil, we hope to see repeat visitors in the years to come. While paths are mowed, they may not be maintained weekly like lawns, so some natural length should be expected. Bringing bug deterrent is recommended for comfort. Pets that are responsibly kept are welcome. Consideration of neighbors, the land and livestock is requested during your stay. Cash may be useful for additional goods and services onsite. (I.e. Freshly milled organic wheat bread, homemade kombucha and lacto-fermented sauerkraut) The tent and RV sites are drive-up accessible. For Civil War enthusiasts, the local site in Freeman is associated with Colonel Freeman and the Freeman's Regiment, Missouri Cavalry, organized in January 1864 and active in Missouri until disbanding in spring 1865.
Pets
Trash
from 
$16
 / night

Looking to go camping near Warrensburg, Missouri? Hipcamp has over 730 options for you to choose from, with accommodations ranging from tent camping to RV hookups. Whether you prefer a lakeside retreat or a secluded forest getaway, you'll find the perfect campsite to suit your needs. With an average price per night of $41 and options as low as $6, there's something for every budget. Check out some of the top campsites in the area, like Harmony Lake Farm Park & Playground (292 reviews), Selby Farm Horse Retirement (240 reviews), or Milo Farm Sacred Land (134 reviews). Enjoy popular amenities like potable water, cooking equipment, and showers, and partake in activities such as snow sports, fishing, and climbing. Start planning your camping adventure today!

96% (1.5K)

Top-rated campgrounds

Milo Farm Sacred Land

1. Milo Farm Sacred Land

98%
(457)
34mi from Warrensburg · 25 sites · Tents, RVs, Lodging · Buckner, MO
Milo Farm was established organically a few years ago. The energy at Milo so amazing we wanted to share! There's a story behind the sacredness of this land, Loni can share that with you if you ask! There are 5 different ecosystems at Milo, all which hold their own magic!🪄 The lodge was built then the camping sites, then the Hippie Trailer, which is located near the west woods near the Fairy Forest. Then the Bunkhouse was established, it's just past the barn on the north end of the property. The lodge, where the Airbnb and pool are is centrally located on the land. We rent out the lower level guest quarters for non-campers. There are 2 stocked ponds, miles of trails, pool, Zen garden, farm animals and more. For diehard campers the beauty of primitive pack-in/pack-out camping of Freedom Field is a joy! Feel the energy of the sacred land. Find the vortexes here! Bless Mother Earth and spend some time in nature at this magical place Great for the spiritually minded with several meditation spots and portals. Ask about availability of the art golf cart rental if interested. Loni can take you on a guided history, nature and meditation hike if you sign up for that. There are events happening some weekends you can participate in. We have a Call to Prayer 9:30am every day in the Art Studio/Spirit Shack, you may join us! Loni is a spiritual intuitive and can do a reading using the Milo Farm Oracle cards she created! Ask for availability of these things. Milo has a lot to offer! Located in Eastern Jackson County MO, just 30 minutes from downtown Kansas City & 20 min from the sports stadiums.
Pets
Potable water
Toilets
from 
$30
 / night
Harmony Lake Farm Park & Playground

2. Harmony Lake Farm Park & Playground

99%
(1020)
27mi from Warrensburg · 33 sites · Tents, RVs · Wellington, MO
Harmony Lake welcomes you to our Farm. We are proud to be a registered member of Missouri Agritourism. Agritourism connects our guests with the great outdoors via Farm Stay. We hope you enjoy your stay at Harmony Lake Farm. We are walking distance to Harmony Lake: a private 12-acre lake for fishing, swimming and paddle boats. Our lake is home to record large-mouth bass and Missouri's longest free-floating walkway leading to a private island. We are located just 15-minutes from the highway and one hour to sites and attractions of Kansas City. We are 15-minutes to Lexington historic district or Odessa. We have a variety of tent and RV sites for your party to choose from so just reach out if you would like clarification on anything. Campfires and pets are allowed and all sites have access to bathroom with shower, trash bins, and an outdoor grill house.
Pets
Potable water
Toilets
from 
$25
 / night
Sankara Farm

4. Sankara Farm

100%
(3)
40mi from Warrensburg · 6 sites · Tents · Kansas City, MO
Sankara Farm is a 30-acre, family owned and operated Afroecological farm. We also are proud to offer NorthStar Event Space, positioned in the natural beauty of the Little Blue River Valley, located right in the heart of Kansas City, Missouri. We are situated close to biking trails, retail, restaurants, shops and both Arrowhead and Kauffman Stadiums. We currently have 10 sites available for tent camping. We have picnic tables and benches as well as fire rings. All sites are nestled in a quiet part of the farm and are situated by a pond that exhales fog in the dawn. Our indoor bathroom has a hot shower and a flushable toilet located a short walk from the campsites. If hiking is your thing, we have 2 miles of groomed hiking trails with rock formations, a small pond, wildlife and native plants all around. Whether you’re an avid or novice fisherman we have a ½ acre private pond, stocked with Bluegill, Crappie and Large Mouth Bass. Catch and release only - please.
Potable water
Toilets
Showers
from 
$50
 / night
Liberated Grounds

6. Liberated Grounds

92%
(6)
44mi from Warrensburg · 5 sites · Tents, RVs · Kansas City, MO
Welcome to Liberated Grounds – A Sanctuary for Soul, Soil & Story Tucked away on a 100-year-old property in Kansas City, Liberated Grounds is more than just a campsite — it’s a refuge for renewal, creativity, and connection. Here, the land breathes with history, imagination, and freedom. Pitch your tent beneath tall shade trees or rest and retreat in on the ranch. Whether you’re here to unplug, meditate, garden, write, or simply listen to the birds, there’s a place for you. Expect intentional stillness. Expect community if you want it, and solitude if you need it. This is a land in transformation — and you’re invited to be part of the story. ✨ What You’ll Experience • Open space for tent camping or car camping (we can provide tents) • Fire pits, hammocks, and garden beds • A creative atmosphere — perfect for artists, healers, and daydreamers • Access to seasonal programming: sound baths, campfire poetry, nature journaling, and self-guided rituals • Amenities: Bathroom access, water, ranch home + more amenities coming soon: compost toilet & solar lights 🌿 Perfect For: • Solo travelers, couples seeking peace, or day groups • Creatives needing a nature reset • Families introducing kids to eco-living • Spiritual folks craving Earth-aligned spaces Come as you are. Leave lighter.
Pets
Potable water
Toilets
from 
$30
 / night
Our most lovable guests.....

10. Green Acres at Red Brick Farmhouse

98%
(211)
19mi from Warrensburg · 6 sites · Tents, RVs, Lodging · Higginsville, MO
A quiet country retreat nestled in the picturesque rural outskirts of Higginsville, Missouri. Our place consists of three RV sites with water and electric hookups, two camping sites and one on-site travel trailer for rent. Wifi is available at all sites, except for Site 3. Green Acres at Red Brick Farm is located just 50 miles east of Kansas City off of I-70 at Exit 49. Once you are off of I-70 your drive is less than 8 minutes away on all blacktop roads. Site 2 is on gravel with 30 amp hookup and water, preferably best for RV’s and trailers 25’ and under. Site 1 and Site 3 are on gravel with a 20/30/50 amp hookup and water, best suited for larger RV’s and trailers. You may choose your site location, but due to the small number of sites we have we may have to alter your choice. This is so we can accommodate our guests in the best way possible, depending on the size of each rig. If you are towing a vehicle or pulling a trailer your total length should be 55’ or under. We will not accept Triple Axels. Site 4 and site 5 are for tents, pop ups, very tiny trailers and are in flexible locations. A 20 amp standard outlet can be provided for site 4 and site 5. For your use is a shower, toilet, and bathroom sink in our farmhouse basement. Please arrive before dusk, so you don’t disturb other campers. Site 6 Is the on-site travel trailer, ‘Ain’t She Cute’. No Pets are allowed when reserving ‘Ain’t She Cute’. The vintage style travel trailer is completely renovated and decorated with collectibles and antiques and is available for booking. It is furnished with a queen size bed, tiny kitchen, TV, wifi, and full size, not trailer size, bathroom. The trailer is for 2 guests, but an additional guest may sleep on the daybed, preferably a child or small adult. We live onsite in our 1920’s Prairie Style home which is also Red Brick Farmhouse Bed and Breakfast with three Guest Rooms available for booking. Look us up online. At your disposal, is the use of our outdoor furniture, a large yard to walk around in, a fire pit, a BBQ grill, and even a tire swing. Our restaurant, Red Shanty Cafe and BBQ, is located in the town of Higginsville, about 5 miles from Red Brick Farmhouse. Red Shanty Cafe is open Weds and Thurs, 11am - 8 pm and Fri and Sat, 11am - 9pm.
Pets
Potable water
Toilets
from 
$41
 / night
RV parking with bridge leading to clearing.

12. Fangthorn Forest

100%
(50)
33mi from Warrensburg · 1 site · Tent, RV · Garden City, MO
In the 1840's there was a trading post on the property known as Lick Skillet because the owner would set the pans out at night for the dogs to lick.  Today, we call it Fanthorn Forest and it's our dream, our haven and our home.  We love sharing our farm with others and allowing them the same experience of peace and tranquility we get from the land.Learn more about this land:Located only 50 miles SE of Kansas City, MO!  We have woods and pasture with Settle's Ford Wildlife area (fishing and hiking available) 1/4 mile away. Camping is primitive with only an outhouse and no shower facilities. There are MANY thorn trees, so hikers must have proper footwear.  Fire ring, wood and a grate for cooking are provided.  Livestock encounters are also available with owners in attendance.  All proceeds are put back in the farm to care for the animals and the land.  RV's are allowed, but we do not have any hook ups available and they are not allowed in the woods.  Parking area is at the end of the driveway for both cars and RV's.  We love kids and will provide lawn darts or any other games we have available if requested.  Please visit our website at fangthornforest.com for more information.
Pets
Potable water
Toilets
from 
$32
 / night
SundanceKC Ranch

14. SundanceKC Ranch

93%
(7)
45mi from Warrensburg · 6 sites · Lodging · Excelsior Springs, MO
Come enjoy our beautiful 200-acre national park-esque ranch fringed in gorgeous limestone boulders surrounding a spring-fed 15-acre private lake. Make lasting memories with your family and friends swimming, kayaking, or stand-up paddle boarding and, of course, excellent fishing! From glowing tree houses floating above ephemeral streams to Bedouin-style canvas tents perched above rugged stone valleys, this is the way to experience nature at it's finest. With a choice of unique and magical rustic "camp" sites or beautiful, modern accommodations, our serene landscape offers outdoor activities for every skill level and all the amenities one could desire. Located just minutes from Kansas City we are an excellent location for your next stay-cation! Inspired to merge with the unparalleled beauty of our rugged, serene landscape, our unique accommodations reflect a simple, yet sophisticated ambiance. Surround yourself with the comfort of plush bedding and relaxed furnishings, all enhanced by a warm palette of sunny colors that welcome the dawn of the new day. Charm meets modern convenience with complimentary Wi-Fi and a flat-screen television lakeside in the common area.
Pets
Potable water
Toilets
from 
$211
 / night
Where the Sun Rises and Sets

18. Where the Sun Rises and Sets

100%
(1)
45mi from Warrensburg · 2 sites · Tents, RVs · Freeman, MO
Experience the countryside with open views and stargazing opportunities. Enjoy pastured eggs, deer sightings, and the sounds of the neighbor's cattle from a quiet country road. Bird watchers can appreciate the morning serenades. Wildlife activity at night includes coyotes, owls, and frogs. Located 15 minutes east of Louisburg off of 69 highway, and 15 minutes west of Harrisonville off of 49 highway. The local sourdough bakery offers fresh goods on Tuesday, Wednesday and Saturday. A local brewery is a 15-minute drive away, and Bourgmont Winery is situated 30 minutes northwest. If the garden is producing, visitors can help themselves to tomatoes. Yard games and the basketball hoop are available, with equipment to be put away afterward. The fire pit is also available for cooking and s'mores. Visitors are welcome to inquire about regenerative soil practices on the land. As we grow the garden and amend the soil, we hope to see repeat visitors in the years to come. While paths are mowed, they may not be maintained weekly like lawns, so some natural length should be expected. Bringing bug deterrent is recommended for comfort. Pets that are responsibly kept are welcome. Consideration of neighbors, the land and livestock is requested during your stay. Cash may be useful for additional goods and services onsite. (I.e. Freshly milled organic wheat bread, homemade kombucha and lacto-fermented sauerkraut) The tent and RV sites are drive-up accessible. For Civil War enthusiasts, the local site in Freeman is associated with Colonel Freeman and the Freeman's Regiment, Missouri Cavalry, organized in January 1864 and active in Missouri until disbanding in spring 1865.
Pets
Trash
from 
$16
 / night

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Happy farmer sitting in a truck in a grassy field
Happy farmer sitting in a truck in a grassy field