Top Tent Camping near Warrensburg, MO

Looking for the best Warrensburg tent camping? Find the best information on tent campgrounds near Warrensburg, including sites, reviews, and tips. Search nearby tent campsites or find top-rated spots from other campers.

Best Tent Sites Near Warrensburg, MO (7)

    Camper-submitted photo from Farrington City Park
    Camper-submitted photo from Farrington City Park
    Camper-submitted photo from Farrington City Park
    Camper-submitted photo from Farrington City Park
    Camper-submitted photo from Bledsoe Ferry
    Camper-submitted photo from Bledsoe Ferry
    Camper-submitted photo from Bledsoe Ferry
    Camper-submitted photo from Bledsoe Ferry

    2. Bledsoe Ferry

    1 Review
    4 Photos
    5 Saves

    Overview

    Bledsoe Ferry Park sits on the shores of Harry S. Truman Lake in the hills of western Missouri.

    Visitors enjoy fishing, hunting, swimming and boating.

    Click here for the Harry S. Truman Lake virtual tour.

    Natural Features:

    Truman Lake lies among rolling hills and rocky bluffs. Dense hardwood forests studded with mature pine trees cover the area.

    Recreation:

    Bledsoe Ferry is an excellent fishing location. Anglers find crappie, largemouth bass and blue and flathead catfish. Truman Lake is also a popular destination for tournament fishermen.

    The park also offers an excellent location to view "The Dam Experience," a huge annual fireworks display shot from the Truman Dam.

    Facilities:

    This year-round day-use area contains four group picnic shelters. Amenities include flush and pit toilets, drinking water, an accessible boat ramp and fishing dock.

    Nearby Attractions:

    The 950 miles of shoreline around Truman Lake provide plentiful opportunities for fun in the outdoors. Many parks surround the lake, including Harry S. Truman State Park.

    The Harry S. Truman Visitor Center sits atop Kaysinger Bluff and provides a spectacular view of the dam and reservoir. Exhibits provide information about the rich history of the Osage River Valley from pre-civilization to modern day. Waterfowl, bald eagles and turkey vultures are commonly seen from the observation deck.

    • Pets
    • Reservable
    • ADA Access
    • Tents
    • Group
    • No image available

      3. Windsor Crossing Park

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      Windsor Crossing Campground sits on the shores of Harry S. Truman Lake in the hills of western Missouri. Visitors enjoy fishing, hunting, swimming and boating. Click here for the Harry S. Truman Lake virtual tour. Natural Features: Truman Lake lies among rolling hills and rocky bluffs. Dense hardwood forests studded with mature pine trees cover the area. Wildlife is abundant in and around the park. Whitetail deer, turkey, hummingbirds, hawks and ospreys are commonly seen. Bald eagles can be viewed during the winter months. Recreation: Windsor Crossing offers great opportunities to get out on the water. Boating and swimming are popular activities. The park is an excellent fishing location. Anglers find crappie, largemouth bass and blue and flathead catfish. Truman Lake is also a popular destination for tournament fishermen. A large sandy beach and plenty of open grassy areas make the park perfect for parties and families. Facilities: This year-round campground contains 47 primitive sites. Amenities include pit toilets, drinking water and a boat ramp. Nearby Attractions: Katy Trail State Park, the nations longest rails-to-trails project, is nearby. This unique park stretches from Clinton to Machens, with dozens of trailheads in between. Biking and hiking are allowed on the entire length of the trail, and horses are allowed from Clinton to Sedalia. Tebo Islands and Brush Creek State Wildlife Management Areas are close to the park, offering hunting and fishing opportunities.

      • Pets
      • Reservable
      • ADA Access
      • Tents
      • Group
      Camper-submitted photo from Tent Sites at Milo Farm
      Camper-submitted photo from Tent Sites at Milo Farm
      Camper-submitted photo from Tent Sites at Milo Farm
      Camper-submitted photo from Tent Sites at Milo Farm
      Camper-submitted photo from Tent Sites at Milo Farm
      Camper-submitted photo from Tent Sites at Milo Farm

      4. Tent Sites at Milo Farm

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      9 Saves

      Tent camping at MILO FARM - SACRED LAND- The 50 acres of Milo Farm is a nature retreat with a cedar forest, a hardwood forest, 2 ponds, bohemian lodge, art studio, pool, barn, miles of trails, campsites & other buildings. Great for the spiritually minded with several meditation spots and portals. Check out the Hippie Trailer and Bunkhouse glamping options too!

      With our regular tent campsites you will have your own firepit, grill and picnic table. You'll be assigned either the entire campsite #1 or #2 in the east field of Milo Farm. These are family friendly! Each site is private and near the animal pen! Meet our goats and donkeys! There is an outhouse with compost toilet between the two campsites. Campsite #1 is bigger and can hold up to 6 tents. Campsite #2 is quant for a smaller group 1-2 tents.

      Ask about availability of boat and art cart golf cart rental if interested. Fill water jugs at spigots located at the animal pen or pool pump. Outdoor shower is by the pool pump as well.

      If you like being more secluded and like to primitive camp there are over 20 spots in the 22 acres of our Freedom Field on the west side of the property. You pick your location, pack in and pack out trash. There's a creek, big open sky, sunset watching opportunities and amazing energy in this field. There are no outhouses in Freedom Field. Water jugs can be filled at the lodge.

      Milo Farm is located in the country just 30 minutes from downtown Kansas City & 20 min from the sports stadiums.

      There's a short hike to the campsites, no parking near. So unfortunately camping buses, vans, RVs won't work for these locations.

      Full details will be sent with check-in information email!

      MILO FARM AMENITIES

      • Miles of trails to hike
      • Fresh air and nature to bask in
      • Many spots of interest to discover
      • 8 Fire pits to sing and make s'mores around
      • Events to join
      • Two stocked ponds to fish
      • Farm animals to pet & feed
      • Art cart golf cart you can rent
      • Paddle boat the south pond you can rent
      • Many fields for frisbee, kickball, football or softball game
      • Saltwater pool to splash in
      • Zen Garden meditation spot
      • Art Studio Shop to explore
      • Observatory to sky watch
      • Wildflowers and grasses to enjoy the pollinators in Freedom Field
      • Three creeks to explore
      • Tibetan Prayer Flag tree to contemplate under
      • Oracle card readings upon request
      • Mythical trails to find magic and spot fun trinkets in
      • Art class to join
      • Sculptures to admire
      • Cornhole and volleyball games to play
      • Outdoor cold water campers shower by pool pump
      • Pets
      • Fires
      • Reservable
      • Tents
      • Picnic Table
      • Firewood Available

      $25 - $40 / night

      • No image available

        5. Harriman Hill Access

        1 Review
        7 Saves

        Visit the Missouri Department of Conservation's website for more information.

        • Pets
        • Fires
        • Tents
        • Toilets
        • No image available

          6. Sterett Creek Marina

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          This recreation area is part of Harry S. Truman Lake

          • Tents
          • No image available

            7. Shawnee Bend

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            Shawnee Bend Park sits on the shores of Harry S. Truman Lake in the hills of western Missouri. Visitors enjoy fishing, hunting, swimming and boating. Click here for the Harry S. Truman Lake virtual tour. Natural Features: Truman Lake lies among rolling hills and rocky bluffs. Dense hardwood forests studded with mature pine trees cover the area. Wildlife is abundant in and around the park. Whitetail deer, turkey, hummingbirds, hawks and ospreys are commonly seen. Bald eagles can be viewed during the winter months. Recreation: Shawnee Bend is an excellent fishing location. Anglers find crappie, largemouth bass and blue and flathead catfish. Truman Lake is also a popular destination for tournament fishermen. A playground and sandy beach make the area perfect for families. Facilities: This year-round day-use area offers two large group picnic shelters. An additional shelter on the beach is available on a first come, first served basis. Amenities include flush and pit toilets and drinking water. Nearby Attractions: The 950 miles of shoreline around Truman Lake provide plentiful opportunities for fun in the outdoors. Many parks surround the lake, including Harry S. Truman State Park. The Harry S. Truman Visitor Center sits atop Kaysinger Bluff and provides a spectacular view of the dam and reservoir. Exhibits provide information about the rich history of the Osage River Valley from pre-civilization to modern day. Waterfowl, bald eagles and turkey vultures are commonly seen from the observation deck.

            • Pets
            • Reservable
            • ADA Access
            • Tents
            • Group

          Recent Tent Reviews In Warrensburg

          275 Reviews of 7 Warrensburg Campgrounds


          • Ioan P.The Dyrt PRO User
            Camper-submitted photo from Trailside RV Park
            Oct. 12, 2024

            Trailside RV Park

            For one night, ok

            Is situated near very busy Hwy and rails road. It is a little tight but the stuff is very nice.

          • Fred S.The Dyrt PRO User
            Camper-submitted photo from Sparrowfoot
            Sep. 4, 2024

            Sparrowfoot

            Well maintained campground

            Stayed here here for one night in early September during our trip to Wyoming. Paid $10 with interagency senior discount. Stayed in the B Loop. We were one of 5 campers here; camped in a camper van. Our sie, B46, was close to a clean vault toilet (which has tp). Short walk to clean restroom/shower house; this building also has a laundry room. The sites have a level gravel driveway; most sites are back-in. Spacing between sites is okay; no privacy between sites. Even though the campground is along a lake, the sites at B Loop offer no lake views. Hosts seemed friendly. Did not see any hiking opportunities at this loop. There is a path to the lake at the back end of the loop. There is nothing special about this campground, but it is a good, clean, quiet location for an overnight stay. I had excellent T-Mobile 5G service. I would stay here again.

          • MThe Dyrt PRO User
            Camper-submitted photo from Great Escape RV Park & Campground
            Aug. 12, 2024

            Great Escape RV Park & Campground

            Nice for overnight

            Just stopped for one night on our way east. Friendly host checked us in. Nice dog park with bench and shade. All sites are FHU. They offered to move us to a pull thru, but I picked our site based on proximity to the dog park, so I declined the move. We were in site 38, back-in 30 amp. Sites are a bit tight but no one next door so ok. I recommend for a stopover. Less fancy but nicer for dogs imo than Owl Creek which is one exit away. There is a pond for fishing (no license required) and a swimming pool.

          • J
            Camper-submitted photo from Roberts Bluff Access
            Aug. 3, 2024

            Roberts Bluff Access

            Great Overnight Spot

            Great stop 5 minutes off of I-70! The site has three camp sites available with car pull ins and fire rings. Lots of mosquitoes due to the site being right on the water. Also two cats hang out around the site. No bathroom we could find.

          • G
            Camper-submitted photo from Crooked River Conservation Area
            Jul. 18, 2024

            Crooked River Conservation Area

            Missouri Department of Conservation Area, free camping

            Free camping in designated camping area per MO Dept of Conservation rules. Pit toilets and mowed area for camping. Hunting, fishing and other outdoor activities inside the area.

          • E
            Camper-submitted photo from Worlds of Fun Village
            Jul. 7, 2024

            Worlds of Fun Village

            Amazing memories here

            Beautiful park. Pay more for the pull through you’ll have tons of parking even if your rig is big. Our rig is 44 ft and we parked two 2500’s on the pad no problem. We reserve our days in advance and if we need to cancel we just change our reservation to a different date with no fees. The pool and clubhouse are well kept so are the bathrooms and laundry room. This Is our favorite campsite to date. So much to do.

          • Bobby J.The Dyrt PRO User
            Camper-submitted photo from Roberts Bluff Access
            Jun. 26, 2024

            Roberts Bluff Access

            Wonderful Peaceful Stay

            Only 2 miles off of the highway and is perfect for someone just passing by. I’m on my way from St Louis to Denver and it was perfect for one night. Very quiet but still close enough to hear the hum of the interstate traffic. It looked like there were 3 sites with fire rings and all very nice.

          • Kaylen M.
            Camper-submitted photo from Knob Noster State Park
            Jun. 19, 2024

            Knob Noster State Park

            Knob Park

            Nice place, but just didn't care for how much the cops drove threw nonstop, we are camping to get away from people and doesn't make me feel at peace wondering why so many cops always drive thru.

          • Anne R.The Dyrt PRO User
            Camper-submitted photo from Lincoln Lake RV Park
            Jun. 16, 2024

            Lincoln Lake RV Park

            Great overnight stop

            Beautiful spot on the lake. Clean campground, full hook-ups. Tent and RV friendly. Will stop here again!

          • Christian D.The Dyrt PRO User
            Camper-submitted photo from Robert's Bluff
            Jun. 8, 2024

            Robert's Bluff

            Quiet and Free

            Don’t mistake this for the RV hookup site at Roberts Bluff. It’s a bit further down the road and called Roberts Bluff Access. You will eventually see signs for a Conservation site.

            There were about 4/5 spots to pull/back into. Its a small space and really close to the river where you can see huge trout and turtles swimming. There is even a boat ramp.

          • Becky M.
            Camper-submitted photo from Turkey Creek RV Park
            May. 27, 2024

            Turkey Creek RV Park

            Awesome location for visiting Branson

            The campground was quiet and low key. No internet available so bring your own or purchase WiFi from their system. Shower house was ok, the smell made me dry heave, smelled like old meat. Small fenced area for dogs to play / go to the bathroom in. No playground for kids. Our site was level, it stormed during our stay but staff was quick to clean up downed trees and regrade the roads. The location was perfect for visiting Branson and its attractions. I got the vibe that it was more of an older generation camping campsite with more long time campers. We’d go back and stay if our focus was the attractions at Branson, not to hangout at the campsite.

          • RThe Dyrt PRO User
            Camper-submitted photo from Roberts Bluff Access
            Apr. 27, 2024

            Roberts Bluff Access

            Quiet overnight stay

            Enjoyed a campfire before a thunderstorm rolled into the area. Ground away from the campsite was a bit muddy and made a mess. No surprises there! Established campfire ring at 2 spots. Another ring farther down in the turnaround beyond the boat launch.

          • Chloe D.
            Camper-submitted photo from Arrow Rock State Historic Site
            Apr. 11, 2024

            Arrow Rock State Historic Site

            Peaceful and clean

            Stayed here overnight and the camphor was very friendly and helped us out. Bathrooms and showers were open, super clean. Peaceful and would definitely stay again to venture into the town

          • Leni K.
            Camper-submitted photo from Wild Turkey Ridge — Harry S Truman State Park
            Apr. 7, 2024

            Wild Turkey Ridge — Harry S Truman State Park

            In The Thick of Nature, Great Tent Camping Off Season

            We came just at the start of season, so we took advantage of a family spot to relax and get some extra privacy. There were maybe 5 other campers in Wild Ridge, and it was a ridge coming in, narrow roads leading into the peninsula.

            Vault toilets were well kept, and well light at night.

            We hiked to check out the other campsites that were also well spaced for privacy.

            There was a desire line down to the lake, with a rocky shore to walk, the beaches themselves a bit wider.

            We had a nice clearing to set up at our location, likely used for a second tent that lended well to privacy.

          • Cassie B.
            Camper-submitted photo from Owl Creek Market and RV Park
            Mar. 1, 2024

            Owl Creek Market and RV Park

            We absolutely adored this campground.

            We spent about two weeks here around September . It’s well maintained and the staff was so friendly. If we are ever in the area we will definitely stay here again. The market is a great touch.

          • DThe Dyrt PRO User
            Camper-submitted photo from Poague Conservation Area
            Feb. 6, 2024

            Poague Conservation Area

            So much trash

            6 sites in total, all had trash everywhere. A couple sites are big enough for an rv or pull behind. 14 days free in the Poague Conservation area.

          • Megan C.
            Camper-submitted photo from Montrose Missouri Conservation Area Dispersed Camping
            Jan. 20, 2024

            Montrose Missouri Conservation Area Dispersed Camping

            Decent spot

            It was quiet. We enjoyed our stay. I read about the black cat that was found there in the other review. It was still there when we camped in late December and quite hungry. Very friendly and needing love. We brought him home with us and he is the most amazing cat. Took a while to get litter trained but I’m glad we opened up our home to him before the bad weather got here. Thanks to this site, we found our new family member! Thanks to whoever posted.

          • MThe Dyrt PRO User
            Camper-submitted photo from Owl Creek Market and RV Park
            Jan. 19, 2024

            Owl Creek Market and RV Park

            Nice for overnight

            Stayed one night while traveling back to the east coast. It is a decent campground. The bath house was clean and showers were hot. Sites are close together. Mine had shade. There is a small dog park at the top of the hill. 

            I came late and left early, so didn't get to browse the cheese shop, but it looked nice. I would stay here again.

          • Stuart O.The Dyrt PRO User
            Camper-submitted photo from Kansas City East-Oak Grove KOA
            Nov. 14, 2023

            Kansas City East-Oak Grove KOA

            Good spot

            We offer a perspective on RV camping "off peak" (late fall and early spring).  This KOA has a nice eastern exposure for morning sun, and lots of pull through sites.  On the downside, if you're sensitive to nearby road noise, there's a lot of Jake Brakes on I-70 which, at least in the absence of tree foliage, is all over the park.

          • Nate R.The Dyrt PRO User
            Camper-submitted photo from Roberts Bluff Access
            Nov. 12, 2023

            Roberts Bluff Access

            Nice place next to a shallow river.

            We liked this place. It was a good place for an overnight camp on our travels. No restroom that we could find. No water or power. Camp is free. It has an old boat ramp so you can get down the the river easier, but water was way too low for a boat when I was there in September of 2023. Down a gravel road a few minutes off the highway in some corn field area. There are only a handful of spaces on the grass. So hopefully you get one or someone is willing to share. We had the place to ourselves.

          • DThe Dyrt PRO User
            Camper-submitted photo from Robert's Bluff
            Sep. 13, 2023

            Robert's Bluff

            Awesome spot for getting in late

            Great spot on my road trip west! Put in some miles and didn’t get in until about 2am and this was easy to find and great spots away from the highway but also didn’t have to trek far away



          Guide to Warrensburg

          Camping near Warrensburg, Missouri, offers a great mix of outdoor fun and relaxation. With several campgrounds in the area, you can find the perfect spot to enjoy nature and make lasting memories.

          What to do:

          • Fishing and Swimming: Many campgrounds, like Crow's Creek Campground, are near lakes where you can fish and swim. One reviewer mentioned, "We had a short walk to the lake for fishing, and the loop had a restroom."
          • Hiking: Explore the trails at Watkins Mill State Park Campground. A visitor noted, "Great trail network and very nice stock mo state park campground."
          • Wildlife Watching: Campgrounds like Raccoon Ridge are perfect for spotting wildlife. One camper shared, "You’ll see Bald Eagles, raccoons, deer, squirrels, chipmunks, hawks, turtles, and FISHING near wooded edge of cove is Bass and Crappie haven!"

          What campers like:

          • Clean Facilities: Campers appreciate the cleanliness of the sites. At Blue Springs Lake Campground, one reviewer said, "Enjoyed a quick stay here several times. Laundry facilities. Clean and spaces not too close together."
          • Friendly Hosts: Many campgrounds have helpful staff. A visitor at Watkins Mill State Park Campground mentioned, "The hosts are very nice."
          • Quiet Atmosphere: Campers enjoy the peacefulness of places like Arrow Rock State Historic Site Campground. One reviewer noted, "Peaceful and would definitely stay again to venture into the town."

          What you should know:

          • Limited Amenities: Some campgrounds, like Camp Branch Campground, may lack certain amenities. A camper mentioned, "Not rustic enough for me but very nice."
          • Road Noise: If you’re sensitive to noise, be aware that campgrounds near highways, like Kansas City East-Oak Grove KOA, can have traffic sounds. One visitor said, "Close proximity to the interstate does come with some traffic noise."
          • Seasonal Availability: Some campgrounds have specific seasons. For example, Blue Springs Lake Campground is open from May 16 to September 3.

          Tips for camping with families:

          • Choose Family-Friendly Campgrounds: Look for places with playgrounds and activities. Raccoon Ridge is noted for its family-friendly environment, with one camper stating, "The grounds themselves were pretty spotless and well maintained."
          • Plan for Bugs: Be prepared for insects, especially in warmer months. A visitor at Watkins Mill State Park Campground warned, "My only complaint were the ticks."
          • Bring Extra Supplies: Campgrounds like Longview Campground may not have stores nearby. One camper advised, "The camp store sells wood and everyone was extremely friendly."

          Tips from RVers:

          • Check Hookups: Make sure to verify the availability of electric and water hookups. A reviewer at Crow's Creek Campground mentioned, "We’ve stayed at sites in Loop C improved which have water and 50amp service."
          • Level Your Site: Some sites may not be level, so bring leveling blocks. A camper at Lake Jacomo - Fleming Park noted, "Some sites are not very level so bring blocks."
          • Plan for Waste Disposal: Be aware of where to dump waste. A visitor at Raccoon Ridge shared, "Dump Station has 4 Waste Holes, two Non-potable water spigots/hoses and one Fresh Potable Water hose."

          Camping around Warrensburg, Missouri, has something for everyone, whether you're looking for a quiet retreat or a fun family adventure.

          Frequently Asked Questions

          • Which is the most popular tent campsite near Warrensburg, MO?

            According to TheDyrt.com, the most popular tent campground near Warrensburg, MO is Farrington City Park with a 5-star rating from 1 review.

          • What is the best site to find tent camping near Warrensburg, MO?

            TheDyrt.com has all 7 tent camping locations near Warrensburg, MO, with real photos and reviews from campers.