98% (1.4K) • 94 campsites
Top-rated RV parks near Warrensburg
Green Acres at Red Brick Farmhouse
1. Green Acres at Red Brick Farmhouse
98%
(211)
19mi from Warrensburg · 6 sites · Tents, RVs, Lodging
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.
Electrical hookup
Water hookup
Pets
from
$41
/ night
Lee's Summit RV Storage and Camping
2. Lee's Summit RV Storage and Camping
95%
(22)
26mi from Warrensburg · 4 sites
Convenient location just 9 miles east of Lee’s Summit, MO on US 50 Hwy. Perfect spot to stop for the evening or week. There are 4 RV hookup spots with WIFI, security cameras, trash, water, electricity and fire pit. All parking is on concrete. Open Year Around.
Pets
Full hookups
from
$38
/ night
Harmony Lake Farm Park & Playground
3. Harmony Lake Farm Park & Playground
99%
(1020)
27mi from Warrensburg · 18 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.
Electrical hookup
Pets
from
$25
/ night
Knob Noster State Park
4. Knob Noster State Park
100%
(1)
State park 6.8mi from Warrensburg · 35 sites
Named for the small hills rising out of prairie flatlands, this park is a mid-Missouri retreat.
Electrical hookup
Sewer hookup
Pets
Van Meter State Park
5. Van Meter State Park
State park 43mi from Warrensburg · 21 sites
Native American history comes to life in this scenic state park.
Electrical hookup
Pets
Roach Ranch
6. Roach Ranch
98%
(25)
31mi from Warrensburg · 1 site · Tent, RV
We live on a 15 acre farm. We have a barn, and a fenced in yard for the dogs. Much of the acreage is fenced off for cows. We have a small vegetable garden in the spring and summer and a large flower garden space in progress. There's a small pond on the property. In additions to cows, we also have chickens, barn cats, and dogs. We have a second driveway and half-circle drive for parking a camper or car, as well as flat spaces to pitch a tent.
There is fishing nearby at the Amarugia Highlands Conservation Area and the city park.
Pets
from
$20
/ night
Big River Ranch
7. Big River Ranch
93%
(72)
31mi from Warrensburg · 8 sites · Tents, RVs
At Big River Ranch, you'll always find something to do. From fishing to enjoying the 20 miles of riding trails the Ranch has to offer you'll never get tired of it.
- Enjoy views of the Missouri River from the 100 foot elevation of the bluffs.
- Over 20 miles of horse riding and UTV trails.
- Diverse habitat of deciduous forests, cedars, and pines, wildflowers, ponds, streams, and rolling hills.
Electrical hookup
Water hookup
Pets
from
$20
/ night
Milo Farm Sacred Land
8. Milo Farm Sacred Land
98%
(467)
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
from
$30
/ night
Sawmill Hollow Creek
9. Sawmill Hollow Creek
100%
(123)
41mi from Warrensburg · 2 sites · Tents, RVs
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. The campsite connects to a 1-mile trail around the perimeter of the 54-acre property. Guests have access to several kayaks for enjoyment of a secluded inlet of the lake.
RV site -
We also provide an RV hook-up site completely separate from the campsite with access to the mentioned amenities (trail, kayaks, canoe, paddleboat, etc.).
See photos for directions to the sites and a map of the perimeter trail.
Pets
Full hookups
from
$60
/ night
Arrow Rock State Historic Site
10. 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.
Electrical hookup
Sewer hookup
Pets
Annie's HIDEOUT Musicians Camp
11. Annie's HIDEOUT Musicians Camp
96%
(49)
45mi from Warrensburg · 3 sites · Tents, RVs
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
from
$28
/ night
Von Holten Ranch Century Ranch
12. 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.
Electrical hookup
Sewer hookup
Pets
Shawnee Hitching Post
13. Shawnee Hitching Post
16mi from Warrensburg · 1 site · Tent, RV
Bring your horses and explore! Just 20 minutes from Truman Lake’s 26 miles of equestrian trails and 15 minutes from the Katy Trail. You’ll have the RV hookup, stalls, and camping space all to yourself.
Welcome to our peaceful, horse- and pet-friendly retreat located just off Highway 13 between Clinton and Warrensburg, Missouri. Whether you’re hauling horses, traveling with your RV, or both, you’ll find a clean, comfortable spot to rest and recharge.
We provide two spacious 12x14 stalls with automatic waterers and covered runs, along with ample trailer parking. RV travelers can enjoy electric and water hookups, and dogs are always welcome. The property is kept neat and mowed, offering a calm and easy place to regroup on your journey.
Although we live in the home on-site, guests have full, private use of the RV hookup, horse stalls, and surrounding camping area. You’ll never be sharing the space with other campers—just you, your animals, and the countryside.
The setting is surrounded by open cropland, giving you wide skies and true country tranquility. Evenings are especially peaceful—you may hear the soft calls of owls and see deer grazing nearby. It’s a safe, restful space to breathe, relax, and let your animals stretch after a long day on the road.
For outdoor adventure, Truman Lake is just 20 minutes away. At the Berry Bend Public Use Area, horseback riders will find nearly 26 miles of developed equestrian trails, perfect for day rides.
Truman Lake also offers excellent fishing for bass, crappie, and catfish, plus boating, water skiing, jet skiing, kayaking, swimming at public beaches, hiking scenic trails, picnicking, and wildlife viewing. Don’t miss the Truman Lake Dam and Visitor Center for a great look at the area’s history and landscape.
We’re also just 15 minutes from the Katy Trail, where riders can enjoy horseback riding along the scenic 35-mile stretch from Clinton to Sedalia. Cyclists and hikers love this section too, making it a wonderful option if you’re traveling with family or friends who prefer different activities.
Whether you’re stopping overnight or planning a couple of days to explore the area, you’ll enjoy a private, welcoming spot for both you and your four-legged companions.
Electrical hookup
Water hookup
Pets
from
$30
/ night
Kansas City East / Oak Grove KOA Holiday
14. Kansas City East / Oak Grove KOA Holiday
28mi from Warrensburg · 2 sites
Welcome to the Kansas City East KOA – From S'mores to Snores! Where wagon wheels once rolled, you'll find campfires crackling' and fun all around. With so much to explore, you just might hang your hat and stay a while!
Nestled in the heartland of America and just minutes from the historic start of the Oregon Trail, the Kansas City East KOA in Oak Grove is your perfect getaway destination! We're conveniently located right off I-70 at Exit 28—easy to find, and even easier to fall in love with.
Whether you're just passing through or planning a full vacation, we've got the perfect spot for you. Bring your RV, pitch a tent, cozy up in one of our cabins, or try something totally unique—like our charming covered wagon!
Looking for a little extra comfort? Ask about our Deluxe RV sites, or Deluxe Cabins. But that's just the beginning…So much to do, you'll want to stay a while!
Cool off in our pool, bounce the day away on our giant jump pad, or try your luck panning for treasures at our Horseshoe Creek Mining Sluice—you might just uncover gems, fossils, or even shark teeth! Challenge the family to a round of mini golf, or race around the track on one of our fun 4-wheel pedal carts. The paved race track is perfect for bikes, roller skates, skateboards, or a good old-fashioned stroll.
Feeling hungry?
Stop by our camp store for hand-dipped ice cream, fresh hot pizza, and everything you need to make your stay extra sweet. Bringing a furry friend?
They'll love our dog park and dog walk trail—plenty of tail-wagging fun! Nearby adventures await!
You're just minutes away from some amazing local attractions, including:
The historic Oregon Trail Trailhead– 19 miles / 30 minutes
Kansas City Royals & Chiefs games at Truman Sports Complex – Only 15 miles / 20 minutes away
Family favorites:
LEGOLAND Discovery Center – 30 miles / 30–35 minutes
SEA LIFE Aquarium – 30 miles / 30–35 minutes
Kaleidoscope at Crown Center – 30 miles / 30–35 minutes
Kansas City Zoo – 22 miles / 25–30 minutes
History buffs will appreciate:
Harry S. Truman Library & Museum – 20 miles / 25 minutes
Fort Osage Natural Historic Landmark – 16 miles / 20 minutes
Missouri Town Living History Museum 1855 – 21 miles / 25–30 minutes
Pets
Full hookups
from
$53
/ night
Black Sheep Bluff
15. 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
from
$16
/ night
Secluded Space In The City
16. Secluded Space In The City
83%
(3)
34mi from Warrensburg · 1 site · Tent, RV
Great stop as you pass through Kansas City, in the small town of Greenwood, right off 291 Hwy. 4 acre property right in the middle of a safe and quiet neighborhood , close to gas stations, and restaurants. Bakery/coffee shop, smoothie shop and dollar general within walking distance. Has outdoor restroom.
Pets
from
$30
/ night
Fort Osage RV Park
17. Fort Osage RV Park
100%
(1)
36mi from Warrensburg · 2 sites
Welcome to Fort Osage RV Park, your peaceful retreat just outside the hustle and bustle of the city. Located in a charming small town near the Kansas City metro area, our short-term RV park offers full hookups and a quiet, comfortable environment—perfect for traveling professionals seeking a restful place to stay and work. Whether you’re here for a temporary job assignment or just passing through, you’ll appreciate our convenient location, reliable amenities, and relaxed atmosphere. Stay with us and enjoy the best of both worlds—small-town tranquility with easy access to big-city opportunities.
Pets
Full hookups
from
$45
/ night
Beyonder Marine at Sterett Creek
18. 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
Full hookups
from
$24
/ night
I-49 RV Park
19. I-49 RV Park
38mi from Warrensburg · 1 site · Tent, RV
I-49 RV Park & Cabins – Archie, Missouri
Big-Rig Friendly • Full Hookups • Minutes from Kansas City
Welcome to I-49 RV Park & Cabins, a spacious and welcoming campground conveniently located just off Interstate 49 in Archie, Missouri, only a short drive south of Kansas City. Whether you're traveling across the country, visiting the Kansas City area, or planning an extended stay, our park offers a comfortable and easy stop for RV travelers and guests alike.
Our park features large full-hookup RV sites designed for big rigs, including 30/50-amp electric, water, sewer, and reliable Wi-Fi. Many sites include concrete pads and easy pull-through access, making arrival and setup simple after a long day on the road.
Guests enjoy a variety of convenient amenities including:
• Clean bathhouse and shower facilities
• Modern laundry facility
• Camp store and propane service
• Pet-friendly environment
• Fire pits and outdoor gathering areas
• Open green space for relaxing outdoors
I-49 RV Park is popular with RV travelers, families, remote workers, and traveling professionals thanks to its quiet atmosphere, friendly staff, and easy interstate access. Restaurants, fuel, and shopping are just minutes away, while the attractions of Kansas City are within a short drive.
Whether you're staying one night, a weekend, or longer, I-49 RV Park offers a clean, safe, and welcoming place to park, relax, and enjoy the journey.
Amenities
Full Hookups • 30/50 Amp Electric • Big-Rig Friendly • Pull-Through Sites • Wi-Fi • Laundry • Bathhouse • Pet Friendly • Propane • Camp Store • Fire Pits
Big Rig Friendly RV Park Near Kansas City | Full Hookups
I-49 RV Park & Cabins | Full Hookups + Easy Interstate Access
Spacious RV Sites Near Kansas City | Full Hookups & Wi-Fi
Pets
Full hookups
from
$34
/ night
The Old Orchard
20. The Old Orchard
100%
(1)
44mi from Warrensburg · 1 site · Tent, RV
This 4 acre site features an established Orchard with mowed grass parking and fire pit on each of the 4 secluded camping spaces. the acreage is surrounded by horse ranch and a Bison Farm along with 100s of flowing hay fields. Best of all only Minutes from Rays Off Road Park. Come enjoy fast action all day and the tranquil nights.
Pets
from
$20
/ night
98% (1.4K) • 94 campsites
Top-rated RV parks near Warrensburg
Green Acres at Red Brick Farmhouse
1. Green Acres at Red Brick Farmhouse
98%
(211)
19mi from Warrensburg · 6 sites · Tents, RVs, Lodging
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.
Electrical hookup
Water hookup
Pets
from
$41
/ night
Lee's Summit RV Storage and Camping
2. Lee's Summit RV Storage and Camping
95%
(22)
26mi from Warrensburg · 4 sites
Convenient location just 9 miles east of Lee’s Summit, MO on US 50 Hwy. Perfect spot to stop for the evening or week. There are 4 RV hookup spots with WIFI, security cameras, trash, water, electricity and fire pit. All parking is on concrete. Open Year Around.
Pets
Full hookups
from
$38
/ night
Harmony Lake Farm Park & Playground
3. Harmony Lake Farm Park & Playground
99%
(1020)
27mi from Warrensburg · 18 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.
Electrical hookup
Pets
from
$25
/ night
Knob Noster State Park
4. Knob Noster State Park
100%
(1)
State park 6.8mi from Warrensburg · 35 sites
Named for the small hills rising out of prairie flatlands, this park is a mid-Missouri retreat.
Electrical hookup
Sewer hookup
Pets
Van Meter State Park
5. Van Meter State Park
State park 43mi from Warrensburg · 21 sites
Native American history comes to life in this scenic state park.
Electrical hookup
Pets
Roach Ranch
6. Roach Ranch
98%
(25)
31mi from Warrensburg · 1 site · Tent, RV
We live on a 15 acre farm. We have a barn, and a fenced in yard for the dogs. Much of the acreage is fenced off for cows. We have a small vegetable garden in the spring and summer and a large flower garden space in progress. There's a small pond on the property. In additions to cows, we also have chickens, barn cats, and dogs. We have a second driveway and half-circle drive for parking a camper or car, as well as flat spaces to pitch a tent.
There is fishing nearby at the Amarugia Highlands Conservation Area and the city park.
Pets
from
$20
/ night
Big River Ranch
7. Big River Ranch
93%
(72)
31mi from Warrensburg · 8 sites · Tents, RVs
At Big River Ranch, you'll always find something to do. From fishing to enjoying the 20 miles of riding trails the Ranch has to offer you'll never get tired of it.
- Enjoy views of the Missouri River from the 100 foot elevation of the bluffs.
- Over 20 miles of horse riding and UTV trails.
- Diverse habitat of deciduous forests, cedars, and pines, wildflowers, ponds, streams, and rolling hills.
Electrical hookup
Water hookup
Pets
from
$20
/ night
Milo Farm Sacred Land
8. Milo Farm Sacred Land
98%
(467)
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
from
$30
/ night
Sawmill Hollow Creek
9. Sawmill Hollow Creek
100%
(123)
41mi from Warrensburg · 2 sites · Tents, RVs
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. The campsite connects to a 1-mile trail around the perimeter of the 54-acre property. Guests have access to several kayaks for enjoyment of a secluded inlet of the lake.
RV site -
We also provide an RV hook-up site completely separate from the campsite with access to the mentioned amenities (trail, kayaks, canoe, paddleboat, etc.).
See photos for directions to the sites and a map of the perimeter trail.
Pets
Full hookups
from
$60
/ night
Arrow Rock State Historic Site
10. 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.
Electrical hookup
Sewer hookup
Pets
Annie's HIDEOUT Musicians Camp
11. Annie's HIDEOUT Musicians Camp
96%
(49)
45mi from Warrensburg · 3 sites · Tents, RVs
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
from
$28
/ night
Von Holten Ranch Century Ranch
12. 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.
Electrical hookup
Sewer hookup
Pets
Shawnee Hitching Post
13. Shawnee Hitching Post
16mi from Warrensburg · 1 site · Tent, RV
Bring your horses and explore! Just 20 minutes from Truman Lake’s 26 miles of equestrian trails and 15 minutes from the Katy Trail. You’ll have the RV hookup, stalls, and camping space all to yourself.
Welcome to our peaceful, horse- and pet-friendly retreat located just off Highway 13 between Clinton and Warrensburg, Missouri. Whether you’re hauling horses, traveling with your RV, or both, you’ll find a clean, comfortable spot to rest and recharge.
We provide two spacious 12x14 stalls with automatic waterers and covered runs, along with ample trailer parking. RV travelers can enjoy electric and water hookups, and dogs are always welcome. The property is kept neat and mowed, offering a calm and easy place to regroup on your journey.
Although we live in the home on-site, guests have full, private use of the RV hookup, horse stalls, and surrounding camping area. You’ll never be sharing the space with other campers—just you, your animals, and the countryside.
The setting is surrounded by open cropland, giving you wide skies and true country tranquility. Evenings are especially peaceful—you may hear the soft calls of owls and see deer grazing nearby. It’s a safe, restful space to breathe, relax, and let your animals stretch after a long day on the road.
For outdoor adventure, Truman Lake is just 20 minutes away. At the Berry Bend Public Use Area, horseback riders will find nearly 26 miles of developed equestrian trails, perfect for day rides.
Truman Lake also offers excellent fishing for bass, crappie, and catfish, plus boating, water skiing, jet skiing, kayaking, swimming at public beaches, hiking scenic trails, picnicking, and wildlife viewing. Don’t miss the Truman Lake Dam and Visitor Center for a great look at the area’s history and landscape.
We’re also just 15 minutes from the Katy Trail, where riders can enjoy horseback riding along the scenic 35-mile stretch from Clinton to Sedalia. Cyclists and hikers love this section too, making it a wonderful option if you’re traveling with family or friends who prefer different activities.
Whether you’re stopping overnight or planning a couple of days to explore the area, you’ll enjoy a private, welcoming spot for both you and your four-legged companions.
Electrical hookup
Water hookup
Pets
from
$30
/ night
Kansas City East / Oak Grove KOA Holiday
14. Kansas City East / Oak Grove KOA Holiday
28mi from Warrensburg · 2 sites
Welcome to the Kansas City East KOA – From S'mores to Snores! Where wagon wheels once rolled, you'll find campfires crackling' and fun all around. With so much to explore, you just might hang your hat and stay a while!
Nestled in the heartland of America and just minutes from the historic start of the Oregon Trail, the Kansas City East KOA in Oak Grove is your perfect getaway destination! We're conveniently located right off I-70 at Exit 28—easy to find, and even easier to fall in love with.
Whether you're just passing through or planning a full vacation, we've got the perfect spot for you. Bring your RV, pitch a tent, cozy up in one of our cabins, or try something totally unique—like our charming covered wagon!
Looking for a little extra comfort? Ask about our Deluxe RV sites, or Deluxe Cabins. But that's just the beginning…So much to do, you'll want to stay a while!
Cool off in our pool, bounce the day away on our giant jump pad, or try your luck panning for treasures at our Horseshoe Creek Mining Sluice—you might just uncover gems, fossils, or even shark teeth! Challenge the family to a round of mini golf, or race around the track on one of our fun 4-wheel pedal carts. The paved race track is perfect for bikes, roller skates, skateboards, or a good old-fashioned stroll.
Feeling hungry?
Stop by our camp store for hand-dipped ice cream, fresh hot pizza, and everything you need to make your stay extra sweet. Bringing a furry friend?
They'll love our dog park and dog walk trail—plenty of tail-wagging fun! Nearby adventures await!
You're just minutes away from some amazing local attractions, including:
The historic Oregon Trail Trailhead– 19 miles / 30 minutes
Kansas City Royals & Chiefs games at Truman Sports Complex – Only 15 miles / 20 minutes away
Family favorites:
LEGOLAND Discovery Center – 30 miles / 30–35 minutes
SEA LIFE Aquarium – 30 miles / 30–35 minutes
Kaleidoscope at Crown Center – 30 miles / 30–35 minutes
Kansas City Zoo – 22 miles / 25–30 minutes
History buffs will appreciate:
Harry S. Truman Library & Museum – 20 miles / 25 minutes
Fort Osage Natural Historic Landmark – 16 miles / 20 minutes
Missouri Town Living History Museum 1855 – 21 miles / 25–30 minutes
Pets
Full hookups
from
$53
/ night
Black Sheep Bluff
15. 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
from
$16
/ night
Secluded Space In The City
16. Secluded Space In The City
83%
(3)
34mi from Warrensburg · 1 site · Tent, RV
Great stop as you pass through Kansas City, in the small town of Greenwood, right off 291 Hwy. 4 acre property right in the middle of a safe and quiet neighborhood , close to gas stations, and restaurants. Bakery/coffee shop, smoothie shop and dollar general within walking distance. Has outdoor restroom.
Pets
from
$30
/ night
Fort Osage RV Park
17. Fort Osage RV Park
100%
(1)
36mi from Warrensburg · 2 sites
Welcome to Fort Osage RV Park, your peaceful retreat just outside the hustle and bustle of the city. Located in a charming small town near the Kansas City metro area, our short-term RV park offers full hookups and a quiet, comfortable environment—perfect for traveling professionals seeking a restful place to stay and work. Whether you’re here for a temporary job assignment or just passing through, you’ll appreciate our convenient location, reliable amenities, and relaxed atmosphere. Stay with us and enjoy the best of both worlds—small-town tranquility with easy access to big-city opportunities.
Pets
Full hookups
from
$45
/ night
Beyonder Marine at Sterett Creek
18. 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
Full hookups
from
$24
/ night
I-49 RV Park
19. I-49 RV Park
38mi from Warrensburg · 1 site · Tent, RV
I-49 RV Park & Cabins – Archie, Missouri
Big-Rig Friendly • Full Hookups • Minutes from Kansas City
Welcome to I-49 RV Park & Cabins, a spacious and welcoming campground conveniently located just off Interstate 49 in Archie, Missouri, only a short drive south of Kansas City. Whether you're traveling across the country, visiting the Kansas City area, or planning an extended stay, our park offers a comfortable and easy stop for RV travelers and guests alike.
Our park features large full-hookup RV sites designed for big rigs, including 30/50-amp electric, water, sewer, and reliable Wi-Fi. Many sites include concrete pads and easy pull-through access, making arrival and setup simple after a long day on the road.
Guests enjoy a variety of convenient amenities including:
• Clean bathhouse and shower facilities
• Modern laundry facility
• Camp store and propane service
• Pet-friendly environment
• Fire pits and outdoor gathering areas
• Open green space for relaxing outdoors
I-49 RV Park is popular with RV travelers, families, remote workers, and traveling professionals thanks to its quiet atmosphere, friendly staff, and easy interstate access. Restaurants, fuel, and shopping are just minutes away, while the attractions of Kansas City are within a short drive.
Whether you're staying one night, a weekend, or longer, I-49 RV Park offers a clean, safe, and welcoming place to park, relax, and enjoy the journey.
Amenities
Full Hookups • 30/50 Amp Electric • Big-Rig Friendly • Pull-Through Sites • Wi-Fi • Laundry • Bathhouse • Pet Friendly • Propane • Camp Store • Fire Pits
Big Rig Friendly RV Park Near Kansas City | Full Hookups
I-49 RV Park & Cabins | Full Hookups + Easy Interstate Access
Spacious RV Sites Near Kansas City | Full Hookups & Wi-Fi
Pets
Full hookups
from
$34
/ night
The Old Orchard
20. The Old Orchard
100%
(1)
44mi from Warrensburg · 1 site · Tent, RV
This 4 acre site features an established Orchard with mowed grass parking and fire pit on each of the 4 secluded camping spaces. the acreage is surrounded by horse ranch and a Bison Farm along with 100s of flowing hay fields. Best of all only Minutes from Rays Off Road Park. Come enjoy fast action all day and the tranquil nights.
Pets
from
$20
/ night
Recent reviews from the Hipcamp community
E
Elson
November 2025
16 ft car
Amazing campground!, Would love to spend more day's over at Milo camp.
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W
Whitney
November 2025
30 ft Class C
Great communication and privacy to do our own thing.
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H
Hanna
November 2025
14 ft campervan
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!
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O
Olivia
November 2025
25 ft travel trailer
Easy to find, and host immediately reached out. 10/10 will use again if I'm in the KC area.
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W
Wendy
November 2025
19 ft Class B
I enjoyed the peace and quiet. At least until the rooster crowed 🤣 which is also incredibly charming. Said hello to the animals. Got to watch a stag making it's way across the property. Beautiful diversion from the rest of my trip to the area in a campervan.
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B
Brianne
November 2025
20 ft travel trailer
With kids
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!
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B
Bob
November 2025
16 ft pop-up camper
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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A
Angie
October 2025
15 ft pop-up camper
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!
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D
Desiree
October 2025
21 ft campervan
With pets
Very personable and helpful communication while booking and during our stay. Nice amenities, there was even a tree swing at our campsite.
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E
Erin
October 2025
Tent
We had an absolutely wonderful time! What a beautiful spot. So private. We were well taken care of and thoroughly enjoyed the quiet. Our dogs loved exploring the grounds which was such a treat for them!
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Nicolai
October 2025
Tent
With pets
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!
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J
Jessica
October 2025
29 ft Class C
With kids
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.
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D
Dexter
October 2025
Tent
With kids
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!!
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J
Jacob
October 2025
16 ft car
With pets
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.
See moreT
Tara
October 2025
Tent
With pets
Beautiful and relaxing getaway! The property was perfect for unwinding, and the hosts were absolutely fantastic—welcoming, attentive, and kind. We truly enjoyed our stay and are already hoping to return next year
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J
Jeffrey
October 2025
Tent
Group trip
Wobderful hosts. Very accommodating even for our late check in.
See moreJ
Jennifer
September 2025
16 ft car
Milo Farms is a segment of space and time that lends itself to a reset of mind, body, and soul. Car camping, which is what I did, is not the best way to explore as the car camping sites were close to parking for the primitive sites, and cabins. That won’t stop me from coming back though. My nervous system was reset and I look forward to visiting again soon. I can’t wait to explore future events and opportunities and I am so grateful to see that there are wonderful stewards of the land. ✌️
See moreK
Khai
September 2025
16 ft car
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!
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R
Rob
September 2025
25 ft campervan
With pets
First and foremost, the owners of this are truly incredible people. They’re very kind and thoughtful and they go to great lengths to make sure that yourstay is as comfortable as possible. They bring you an incredible amount of wood, the fishing pole holders everywhere there are wonderful lights and placement of chairs and guide lights all over the place. This place is truly a Shangri-La.
Secondly, the land itself is magnificent If you’re a nature lover, and enjoy seeing bald eagles, white tail, and an incredible wide variety of birds this place cannot be beat. The body of water that this sits next to is full of fish and is so gorgeous. Also, the site itself is far enough away from city lights that you can see the spiral of the Milky Way galaxy and the star watching is absolutely wonderful.
We plan on coming back to this place annually.
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jered
September 2025
Tent
With pets
Everything about our trip was perfect! The host is incredible and everything about the site is so well thought out and prepared for campers to enjoy their visit. The campsite is large with 3 platforms for tents and is located right on the channel leading to the lake. Our dog loved exploring the well manicured walking paths, and using one of the multiple kayaks available. Absolutely incredible experience, we will be back!
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