The best luxury RV campgrounds near Warrensburg, Missouri

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!

99% (707)

Top-rated campgrounds

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!

99% (707)

Top-rated campgrounds

1. 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.

2. 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.

3. 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.

4. Twin Oaks Harbor

45mi from Warrensburg · 1 site · Tent, RV · Lowry City, MO

Twin Oaks Harbor! Our harbor lots are conveniently located near the water, just 2 miles away. Twin Harbors is the ideal vacation destination for those seeking relaxation and adventure by the water. These lots offer lots of flexibility. You can camp, set up tents, and have BBQs on the lot. RVs can remain on lots year-round. Campers can stay full time Enjoy the perks of being part of the community, including access to a park, 2 bathhouses with hot showers, and a pool. Access for Golf carts, ATVs, and UTV's on roads (observing a 15mph speed limit). Stocked fishing Lake, Trash dumpsters, new playground (under construction), Rec room and pavilion available for rent, fishing, swimming, horseshoes. Boat ramp access at Truman Lake, approximately 3 miles outside the park, gated community with seasonal full-time gatekeepers.

5. B&S Creekside Retreat LLC

100%

(7)

19mi from Warrensburg · 7 sites · Tents, RVs, Lodging · Holden, MO

B&S Creekside Retreat offers a quiet, peaceful, Countryside setting on 21 acres with walking trails. We offer tent camping with firepit and picnic table. Enjoy nature, relax in a hammock or cozy up next to a warm fire. Guests will have access to inside bathroom, shower and recreation area on lower level of our guest house with 24 hour access. Complimentary coffee bar and soda machine also available.

Stories from the community

H

Hanna

1 week ago

14 ft campervan

Weekend Trip to Harmony Lake Farm Park & Playground

We loved our stay! The hosts were very kind, even helping us late at night with some of our electrical issues. The property is beautiful and has so much to offer. We will definitely be back!

B

Brianne

3 weeks ago

20 ft travel trailer

With kids

Weekend Trip to Harmony Lake Farm Park & Playground

We loved Harmony Lake! The property is well equipped with everything you need for a great stay. The animals were a favorite! The peacocks and geese are a great touch. Thank you to Joan and Kenny for a wonderful time! We will be back!

B

Bob

3 weeks ago

16 ft pop-up camper

Weekend Trip to Harmony Lake Farm Park & Playground

This was probably our favorite Hipcamp stay! Gorgeous layout with all the amenities you could ever need. The hosts were amazing and truly a pleasure to work with. We don't usually leave reviews, but this experience more than deserved one! We will absolutely be back!

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Angie

October 2025

15 ft pop-up camper

Weekend Trip to Harmony Lake Farm Park & Playground

This is such a lovely property to visit when you need to hit “pause” in a busy life. Ken and Joan are welcoming and helpful. We will certainly be back!

N

Nicolai

October 2025

Tent

With pets

Weekend Trip to Harmony Lake Farm Park & Playground

A True Hidden Gem! Pictures Don't Do It Justice! My wife and I had the most wonderful weekend camping at Harmony Lake! From the moment we arrived, the hosts, Joan and Ken, were incredibly welcoming and hospitable. They keep the property in absolutely immaculate condition. We needed electricity for our site, and Ken made it happen without any trouble at all. The views from our tent overlooking the lake were breathtaking—the definition of camping luxury! We spent our time relaxing and filming our new Coody Dome tent for our YouTube channel, "Gear Up, Go Explore!", and this location was the perfect backdrop. The description and photos online don't do this place justice; it truly exceeded our expectations. The property has fantastic amenities, like clean showers, restrooms, and even communal propane grills and a kitchen area, which saves so much space when packing. We loved the little touches, like the friendly animals, the floating bridge to the island retreat, and the well-stocked lake for catch-and-release fishing. For just $15, they provide a very generous amount of high-quality firewood, which was super convenient. Whether you're looking for a private, basic site in the woods or a full hookup site by the water, they have options. Our advice: book fast, because this place is amazing! Thank you, Joan and Ken, for an unforgettable experience. We will definitely be back!

J

Jessica

October 2025

29 ft Class C

With kids

Weekend Trip to Harmony Lake Farm Park & Playground

We’ve stayed here twice in the last month and it feels just like a private getaway for me and my family! Lovely hosts and pretty much everything we would need on hand to enjoy the amenities on the property. We enjoyed the paddle boats, the floating walkway, beach, trampoline, tables near the dock for a picnic lunch and hot shower in the guest house. Plan on coming back after winterizing our camper for those more mild winter days and use the kitchen/bathroom in the guest house for our water related needs.

D

Dexter

October 2025

Tent

With kids

Weekend Trip to Harmony Lake Farm Park & Playground

Joan and Ken are fantastic! The place is absolutely beautiful. If you are looking for a place to unwind in nature with incredibly kind hosts, Harmony is the place to go. Thanks again for giving me and my son a wonderful experience!!

J

Jacob

October 2025

16 ft car

With pets

Weekend Trip to Harmony Lake Farm Park & Playground

Joan and Ken were wonderfully friendly, communicative, and flexible hosts — even though I stayed only briefly, they made everything easy and welcoming. The farm stay is a beautiful location, and the campsite was comfortable and well-appointed. I’d happily return and would recommend it to anyone looking for a peaceful, accommodating getaway.

J

Jeffrey

October 2025

Tent

Group trip

1 night at Liberated Grounds

Wobderful hosts. Very accommodating even for our late check in.

K

Khai

September 2025

16 ft car

Weekend Trip to Harmony Lake Farm Park & Playground

My girlfriend and I had a wonderful time here! We would definitely recommend it to anyone looking to stay, Joan and Kenny were very accommodating and were always willing to help in any way they could. The land was also beautiful and we loved seeing their animals. The floating dock was awesome as well, wish we had more time to stay and enjoy their lovely place!

E

Emily

September 2025

Tent

With kids

Weekend Trip to Liberated Grounds

We loved staying at Liberated Ground. It felt far away even though you’re just a short drive away from the city. The fire pit was incredible and the hosts were gracious.

The coolest airstream RV owned by the coolest guests!

E

Elizabeth

September 2025

20 ft Class C

With pets

Weekend Trip to Green Acres at Red Brick Farmhouse

This is one of the more idyllic private residences where we have had the pleasure to stay during our cross country journey. Thanks to the hosts for their flexibility on our late arrival as we’d been on the road longer than originally planned on our day of arrival. It’s a beautiful location also managed as a bed-and-breakfast. Super sweet. We recommend.

L

Leeann

September 2025

Tent

With pets

Weekend Trip to Harmony Lake Farm Park & Playground

Our guest greeted us at the gate and showed us a great camping place for my grandson and I to enjoy. The land was beautiful and surrounded by trees. We really appreciated the firewood that was delivered to us. Honestly, the online pictures don’t really show the beauty of this land and its surrounding area. One of our favorite activities for the weekend was to paddle boat around the lake and explore the gazebo in the island in the middle of the lake. Another amazing amenity is the animals that are walking around and especially the beauty of the peacocks. I look forward to having a family camp out and enjoying the beach. Make sure to bring a hammock because they have a wonderful set up. There are also many opportunities for recreational exercise along with hiking around the lake. This is absolutely one of my favorite hip camps that I have ever been blessed to be able to camp out.

D

Dora

September 2025

36 ft fifth wheel

2 nights at Green Acres at Red Brick Farmhouse

We loved our stay at Green Acres Farm, So peaceful, and beautiful, . The host are so nice and engaging . Would definitely recommend staying there. We will definitely stay if we are in the area again.

R

Ryan

September 2025

20 ft pop-up camper

With pets

Weekend Trip to Harmony Lake Farm Park & Playground

The hosts are very kind and the property is beautiful. We would stay there again.

Joshua

August 2025

Tent

With kids

Weekend Trip to Harmony Lake Farm Park & Playground

Great people, great place! My family always a fun time! Thank you!!

N

Natalie

August 2025

Tent

With kids

Weekend Trip to Harmony Lake Farm Park & Playground

I cannot say enough good things about Harmony Farm, and the owners Kenny and Joan. This was by far and away the best camping experience my family have ever had. To say they went out of their way to accommodate us would be an understatement. We forgot our smores ingredients, and Joan arrived with a bag of marshmallows chocolate and crackers! One of our tent hinges snapped, and Kenny made it his mission to get it fixed and safe for the night! I have four young children and they were so kind and welcoming, I seriously cannot say enough good things. The farm itself was wonderful, just an absolute dream location. The children had fun in the lake, and admiring Boris the pig and the emu and peacocks. I almost don’t want to leave such deserving high praise as I loved how peaceful and quiet it was! Thank you so much for our stay, and we will for sure be back!

r

rebecca

August 2025

Tent

With pets

Weekend Trip to Harmony Lake Farm Park & Playground

We loved camping with Ken and Joan...we got a tent site ...it was fantastic...huge open areas for playing and amazing stargazing opportunities at night...great amenities, beautiful property and the host are so welcoming and helpful! Can't wait to return and spend more time here!!! Also they have an emu and peacocks!!!

J

Julia

August 2025

Tent

With kids

1 night at Harmony Lake Farm Park & Playground

Beautiful sprawling land! The hosts, Ken and Joan, were so warm and welcoming. We slept really well and even had our own porta-potty!

S

Sarah

August 2025

20 ft Class B

1 night at Green Acres at Red Brick Farmhouse

We were met by the host who filled us in on all the details quickly and efficiently. They provided great directions to get there so we didn’t have to drive down the GPS directed gravel roads.