The best river, stream, or creek camping near Warrensburg

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Welcome to Hipcamp, your go-to website for finding the perfect camping experience in the United States. If you're looking for a campground near Warrensburg, Missouri with a river, you're in luck! We have over 240 options available that cater to your specific preferences. Whether you're into surfing, paddling, or climbing, you'll find the ideal spot to enjoy your favorite outdoor activities. Some of our top campsites in the area include Harmony Lake Farm Park & Playground (292 reviews), Selby Farm Horse Retirement (240 reviews), and The Light Center (159 reviews). These campsites offer popular amenities such as trash disposal, potable water, and showers. With an average price per night of $40 and options as low as $10, you can find a campsite that fits your budget. Start planning your next outdoor adventure with Hipcamp!

98% (1.1K) 162 campsites

Top-rated campgrounds near Warrensburg

B&S Creekside Retreat LLC

1. B&S Creekside Retreat LLC

100%
(10)
19mi from Warrensburg · 5 sites · Tents, RVs, Lodging
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 and shower on the lower level of our guest house Upon request only if not being occupied by Airbnb or Vrbo guests at that time. Complimentary coffee and soda machine also available 24/7. Please be respectful of quiet hours listed, due to other guests on the property.
Pets
Toilets
Campfires
from 
$40
 / night
Harmony Lake Farm Park & Playground

2. Harmony Lake Farm Park & Playground

99%
(1026)
27mi from Warrensburg · 19 sites · Tents, RVs
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
Electrical hookup
Toilets
from 
$25
 / night
Milo Farm Sacred Land

3. Milo Farm Sacred Land

98%
(483)
34mi from Warrensburg · 20 sites · Tents, RVs, Lodging
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
Toilets
Campfires
from 
$30
 / night
Van Meter State Park

4. Van Meter State Park

State park 43mi from Warrensburg · 21 sites
Native American history comes to life in this scenic state park.
Pets
Electrical hookup
Toilets
Arrow Rock State Historic Site

5. Arrow Rock State Historic Site

100%
(3)
State park 47mi from Warrensburg · 47 sites
Explore a unique park that encompasses part of an 18th-century river town.
Pets
Electrical hookup
Toilets
Sawmill Hollow Creek

6. Sawmill Hollow Creek

100%
(125)
41mi from Warrensburg · 2 sites · Tents, RVs
We have two private sites, a primitive campsite directly on the Lake of the Ozarks, and a RV spot with full hook-ups (water, 50 amp AC, and sewer). The two sites are separated from each other, but both have access to the lake, including kayaks, a canoe, a paddleboat, excellent fishing, a boat-ramp, floating dock and a one-mile perimeter nature/hiking trail. *** NOTE *** From January until early May, the lake level is dropped about five (5) feet, so boating and fishing access range from difficult to impossible (though, arrowhead hunting is a fun activity you might enjoy during the low water months!). Primative Campsite - A private 1.5 acre campsite with a firepit (and plenty of wood to burn in it) and direct access to the Lake of the Ozarks. Amenities and features of the campsite include: a private camp toilet with a door and a concrete pad, picnic table on a gravel pad with an umbrella, a fully equipped cornhole game, fishing pole holders, a garbage can and three (3) level wood tent platforms. RV site - the RV site also has a picnic table with umbrella, a garbage can and a fully equipped cornhole game. Nearby, the RV site also has access to a very nice private pit toilet, a gazebo with lights and an electrical outlet, and a firepit stocked with firewood.
Pets
Toilets
Full hookups
from 
$60
 / night
Annie's HIDEOUT Musicians Camp

7. Annie's HIDEOUT Musicians Camp

96%
(49)
45mi from Warrensburg · 3 sites · Tents, RVs, Lodging
Pitch your tent on one of two wooded islands or back in woods by the creek. Opened new hiking trail up creek cross bridge, down opposite side. Badminton, fishing, paddle boats, hillbilly swimming pool. Second Saturday musician night from 6-9 pm. Stage, PA, drums, mics, amps, dance floor. Learn more about this land:
Pets
Toilets
Campfires
from 
$28
 / night
Von Holten Ranch Century Ranch

8. Von Holten Ranch Century Ranch

100%
(98)
36mi from Warrensburg
Von Holten Ranch was originally in 1906 by David Von Holten's great grandfather.  David is the 4th generation to own the family farm.  David and Brandy married in 2005.  Brandy Von Holten is an avid horsewoman.  They quit their jobs, bought the family farm, and opened an equine trail riding facility and fully functioning camping facility.Learn more about this land:Winery nearby, horses and mules visible, heated and air conditioned guest shower house, creek that runs year round, mostly wooded, private firepits.Von Holten Ranch is on a century farm, meaning that the land has been in the same family for over 100 years. It is also home to a rustic wedding barn and an equine trail riding facility. We are considered the gateway to the Ozarks. The deer are plentiful and easily viewable, especially in the open fields.
Black Sheep Bluff

9. Black Sheep Bluff

29mi from Warrensburg · 4 sites · Tents, RVs
A Historic Property with Deep Roots in American History This very special property has visible links to the Oregon and Santa Fe Trails, the Civil War, and the region’s early coal mining history. A natural spring on the land was once used by the Pony Express, as well as travelers on the pioneer trails and even during the Civil War. The property sits on what were once the banks of the Missouri River, perched on a bluff that offers incredible sunsets and wide-open night skies. Today, it’s a small working farm with chickens, goats, and a massive turkey named “Tank” who proudly answers to his name. There’s so much to see here — from rich history and wild open spaces to the nearby river and passing trains.
Pets
Campfires
Picnic table
from 
$16
 / night
Beyonder Marine at Sterett Creek

10. Beyonder Marine at Sterett Creek

100%
(4)
38mi from Warrensburg · 16 sites · Tents, RVs, Lodging
Welcome to BEYONDER Marina at Sterett Creek, your ultimate destination for outdoor adventure and relaxation. As a full-service campground and marina, we offer a wealth of amenities to enhance your experience. Embark on thrilling lake activities, soak up the sun, and indulge in the delicious offerings at The Drunken Minnow. Join us for live music and savor mouthwatering dishes while you're here. Don't forget to try our famous minnow shots, a unique and unforgettable experience. Whether you're seeking thrilling water sports or a serene lakeside retreat, BEYONDER Marine at Sterett Creek has it all. If you need to make a booking within the next 24 hours, please give us a call directly at (660) 438-2821 or visit our website (www.beyondercamp.com) for immediate assistance. Last-minute availability can change quickly, and we're here to help you get set up as smoothly as possible. https://beyondercamp.com/sterett-creek-warsaw-mo/
Pets
Toilets
Full hookups
from 
$24
 / night
Lakeview by Sue Honeymoon Cabin

11. Lakeview by Sue Honeymoon Cabin

100%
(1)
44mi from Warrensburg · 1 site
The Couple's Cabin is a part of the rustic Cabins of Lakeview by Sue Barn Venue. With its own lake-view porch too, it holds a maximum of 3 guests (including the ladder-accessible loft for one). When not being rented along with a wedding/event, it is offered here for a quiet stay. All the kitchen accessories you may need, comfy bedding, and plush towels, for the full bathroom with shower, have been provided. The little lake is steps from your front door where you can enjoy a little fishing too. The space Along with a well-appointed inside, we have chairs on the front porch for lake viewing and a grill for outdoor cooking too. There is also the Rustic Duck, a wonderful restaurant and art gallery, just a short walk away. Enjoy our little lake! This peaceful countryside cabin has a nice little lake just right for fishing just steps from the front door from which folks have caught catfish, bluegill, crappie, and bass. The Appleton City Lake does not allow swimming. It does not allow boats with motors. However, you could bring a kayak if you wanted. We have a community fire pit and picnic tables too. The grill is electric with pellets. We provide firewood for the pit and pellets for the grill. Guest access We are a little over one mile down a level gravel road and just 3.5 miles total from the small town of Appleton City where we have a little restaurant, Caseys, a very nice little grocery store (closes 7 pm), coffee house (mon-sat 8 am-11 am), and Dollar General (closes 9 pm). I live nearby on the property and am available to greet you when you arrive. Other things to note Appleton City is a small town. If you are coming in late, you may want to stop on the way to pick up food. We have a few stores in town, but some folks are caught off guard to find out the stores close early. But Caseys has sandwiches and assorted quick items and is open until 11 pm.
Toilets
Showers
Campfires
from 
$130
 / night
SundanceKC Ranch

12. SundanceKC Ranch

93%
(7)
45mi from Warrensburg · 6 sites
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
Toilets
Showers
from 
$212
 / night

Welcome to Hipcamp, your go-to website for finding the perfect camping experience in the United States. If you're looking for a campground near Warrensburg, Missouri with a river, you're in luck! We have over 240 options available that cater to your specific preferences. Whether you're into surfing, paddling, or climbing, you'll find the ideal spot to enjoy your favorite outdoor activities. Some of our top campsites in the area include Harmony Lake Farm Park & Playground (292 reviews), Selby Farm Horse Retirement (240 reviews), and The Light Center (159 reviews). These campsites offer popular amenities such as trash disposal, potable water, and showers. With an average price per night of $40 and options as low as $10, you can find a campsite that fits your budget. Start planning your next outdoor adventure with Hipcamp!

98% (1.1K) 162 campsites

Top-rated campgrounds near Warrensburg

B&S Creekside Retreat LLC

1. B&S Creekside Retreat LLC

100%
(10)
19mi from Warrensburg · 5 sites · Tents, RVs, Lodging
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 and shower on the lower level of our guest house Upon request only if not being occupied by Airbnb or Vrbo guests at that time. Complimentary coffee and soda machine also available 24/7. Please be respectful of quiet hours listed, due to other guests on the property.
Pets
Toilets
Campfires
from 
$40
 / night
Harmony Lake Farm Park & Playground

2. Harmony Lake Farm Park & Playground

99%
(1026)
27mi from Warrensburg · 19 sites · Tents, RVs
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
Electrical hookup
Toilets
from 
$25
 / night
Milo Farm Sacred Land

3. Milo Farm Sacred Land

98%
(483)
34mi from Warrensburg · 20 sites · Tents, RVs, Lodging
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
Toilets
Campfires
from 
$30
 / night
Van Meter State Park

4. Van Meter State Park

State park 43mi from Warrensburg · 21 sites
Native American history comes to life in this scenic state park.
Pets
Electrical hookup
Toilets
Arrow Rock State Historic Site

5. Arrow Rock State Historic Site

100%
(3)
State park 47mi from Warrensburg · 47 sites
Explore a unique park that encompasses part of an 18th-century river town.
Pets
Electrical hookup
Toilets
Sawmill Hollow Creek

6. Sawmill Hollow Creek

100%
(125)
41mi from Warrensburg · 2 sites · Tents, RVs
We have two private sites, a primitive campsite directly on the Lake of the Ozarks, and a RV spot with full hook-ups (water, 50 amp AC, and sewer). The two sites are separated from each other, but both have access to the lake, including kayaks, a canoe, a paddleboat, excellent fishing, a boat-ramp, floating dock and a one-mile perimeter nature/hiking trail. *** NOTE *** From January until early May, the lake level is dropped about five (5) feet, so boating and fishing access range from difficult to impossible (though, arrowhead hunting is a fun activity you might enjoy during the low water months!). Primative Campsite - A private 1.5 acre campsite with a firepit (and plenty of wood to burn in it) and direct access to the Lake of the Ozarks. Amenities and features of the campsite include: a private camp toilet with a door and a concrete pad, picnic table on a gravel pad with an umbrella, a fully equipped cornhole game, fishing pole holders, a garbage can and three (3) level wood tent platforms. RV site - the RV site also has a picnic table with umbrella, a garbage can and a fully equipped cornhole game. Nearby, the RV site also has access to a very nice private pit toilet, a gazebo with lights and an electrical outlet, and a firepit stocked with firewood.
Pets
Toilets
Full hookups
from 
$60
 / night
Annie's HIDEOUT Musicians Camp

7. Annie's HIDEOUT Musicians Camp

96%
(49)
45mi from Warrensburg · 3 sites · Tents, RVs, Lodging
Pitch your tent on one of two wooded islands or back in woods by the creek. Opened new hiking trail up creek cross bridge, down opposite side. Badminton, fishing, paddle boats, hillbilly swimming pool. Second Saturday musician night from 6-9 pm. Stage, PA, drums, mics, amps, dance floor. Learn more about this land:
Pets
Toilets
Campfires
from 
$28
 / night
Von Holten Ranch Century Ranch

8. Von Holten Ranch Century Ranch

100%
(98)
36mi from Warrensburg
Von Holten Ranch was originally in 1906 by David Von Holten's great grandfather.  David is the 4th generation to own the family farm.  David and Brandy married in 2005.  Brandy Von Holten is an avid horsewoman.  They quit their jobs, bought the family farm, and opened an equine trail riding facility and fully functioning camping facility.Learn more about this land:Winery nearby, horses and mules visible, heated and air conditioned guest shower house, creek that runs year round, mostly wooded, private firepits.Von Holten Ranch is on a century farm, meaning that the land has been in the same family for over 100 years. It is also home to a rustic wedding barn and an equine trail riding facility. We are considered the gateway to the Ozarks. The deer are plentiful and easily viewable, especially in the open fields.
Black Sheep Bluff

9. Black Sheep Bluff

29mi from Warrensburg · 4 sites · Tents, RVs
A Historic Property with Deep Roots in American History This very special property has visible links to the Oregon and Santa Fe Trails, the Civil War, and the region’s early coal mining history. A natural spring on the land was once used by the Pony Express, as well as travelers on the pioneer trails and even during the Civil War. The property sits on what were once the banks of the Missouri River, perched on a bluff that offers incredible sunsets and wide-open night skies. Today, it’s a small working farm with chickens, goats, and a massive turkey named “Tank” who proudly answers to his name. There’s so much to see here — from rich history and wild open spaces to the nearby river and passing trains.
Pets
Campfires
Picnic table
from 
$16
 / night
Beyonder Marine at Sterett Creek

10. Beyonder Marine at Sterett Creek

100%
(4)
38mi from Warrensburg · 16 sites · Tents, RVs, Lodging
Welcome to BEYONDER Marina at Sterett Creek, your ultimate destination for outdoor adventure and relaxation. As a full-service campground and marina, we offer a wealth of amenities to enhance your experience. Embark on thrilling lake activities, soak up the sun, and indulge in the delicious offerings at The Drunken Minnow. Join us for live music and savor mouthwatering dishes while you're here. Don't forget to try our famous minnow shots, a unique and unforgettable experience. Whether you're seeking thrilling water sports or a serene lakeside retreat, BEYONDER Marine at Sterett Creek has it all. If you need to make a booking within the next 24 hours, please give us a call directly at (660) 438-2821 or visit our website (www.beyondercamp.com) for immediate assistance. Last-minute availability can change quickly, and we're here to help you get set up as smoothly as possible. https://beyondercamp.com/sterett-creek-warsaw-mo/
Pets
Toilets
Full hookups
from 
$24
 / night
Lakeview by Sue Honeymoon Cabin

11. Lakeview by Sue Honeymoon Cabin

100%
(1)
44mi from Warrensburg · 1 site
The Couple's Cabin is a part of the rustic Cabins of Lakeview by Sue Barn Venue. With its own lake-view porch too, it holds a maximum of 3 guests (including the ladder-accessible loft for one). When not being rented along with a wedding/event, it is offered here for a quiet stay. All the kitchen accessories you may need, comfy bedding, and plush towels, for the full bathroom with shower, have been provided. The little lake is steps from your front door where you can enjoy a little fishing too. The space Along with a well-appointed inside, we have chairs on the front porch for lake viewing and a grill for outdoor cooking too. There is also the Rustic Duck, a wonderful restaurant and art gallery, just a short walk away. Enjoy our little lake! This peaceful countryside cabin has a nice little lake just right for fishing just steps from the front door from which folks have caught catfish, bluegill, crappie, and bass. The Appleton City Lake does not allow swimming. It does not allow boats with motors. However, you could bring a kayak if you wanted. We have a community fire pit and picnic tables too. The grill is electric with pellets. We provide firewood for the pit and pellets for the grill. Guest access We are a little over one mile down a level gravel road and just 3.5 miles total from the small town of Appleton City where we have a little restaurant, Caseys, a very nice little grocery store (closes 7 pm), coffee house (mon-sat 8 am-11 am), and Dollar General (closes 9 pm). I live nearby on the property and am available to greet you when you arrive. Other things to note Appleton City is a small town. If you are coming in late, you may want to stop on the way to pick up food. We have a few stores in town, but some folks are caught off guard to find out the stores close early. But Caseys has sandwiches and assorted quick items and is open until 11 pm.
Toilets
Showers
Campfires
from 
$130
 / night
SundanceKC Ranch

12. SundanceKC Ranch

93%
(7)
45mi from Warrensburg · 6 sites
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
Toilets
Showers
from 
$212
 / night

Recent reviews from the Hipcamp community

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