Warrensburg
- Country: United States
- State: Missouri
- Population: 20,251 (2016)
- Latitude: 38° 45.8' N (38.76279°)
- Longitude: 93° 44.2' W (-93.73605°)
- Elevation: 264 m/866 ft. above sea level
- Time zone: America/Chicago (UTC -06:00); DST observed (UTC -05:00)