How far is Saint Joseph, MO from Warrensburg, MO?
The driving distance from Saint Joseph, MO to Warrensburg, MO is about 116.1 miles (186.9 km), with a travel time of about 02h 16m by car.
- The straight-line flight distance is about 91.4 miles (147.1 km).
- For a round trip, plan for roughly 04h 33m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 8:00 AM to 10:00 AM CDT.
Reverse, save, or send this route
This route works well as a day trip with time at the destination. Copy the route link, send it to another device, or print a clean version before you head out.
This route works well as a day trip with time at the destination.
Flight Distance
Driving Distance
Gas Cost Calculator
Leave and Arrive Planner
Pick a departure time to see your estimated arrival and same-day return window.
Drive time stays fixed at 02h 16m.
A morning start gives you useful time at the destination and keeps the return out of the late evening.
You are leaving earlier than the recommended window, which gives you extra margin for breaks and traffic.
Halfway Point
A useful midpoint for breaks, coffee, or meeting in the middle.
City in Clay County, Missouri, USA
Route Weather Snapshot
Check the forecast at both ends before you head out.
Chance Showers And Thunderstorms
Chance Showers And Thunderstorms
Driving Route Map
The map below follows the saved road route between Saint Joseph and Warrensburg.
Turn-by-Turn Driving Directions
Step-by-step road directions between Saint Joseph and Warrensburg.
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1
Start on Walter Welsh Avenue
127 m · 9 sec · Walter Welsh Avenue
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2
Turn right onto North 12th Street
91 m · 10 sec · North 12th Street
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3
Turn right onto Francis Street
1130 ft · 38 sec · Francis Street
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4
Turn left onto North 9th Street
1.2 mi · 2 min · North 9th Street
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5
Take the ramp slight right
741 ft · 16 sec
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6
Merge slight left
929 ft · 20 sec
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7
Take the exit slight left toward I 229 South, US 59 South: Kansas City
992 ft · 21 sec
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8
Merge slight left
4.5 mi · 5 min
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9
Keep slight right to continue on I 29 South, US 71 South: Kansas City
1705 ft · 29 sec
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10
Merge slight left
26.1 mi · 28 min
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11
Merge slight right
2.2 mi · 2 min
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12
Keep slight right to continue on I 435 East: Saint Louis
28 mi · 31 min
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13
Keep slight left to continue on Lamar Hunt Memorial Highway
3.5 mi · 4 min · Lamar Hunt Memorial Highway
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14
Take the exit slight left toward MO 350 East: 63rd Street, Raytown, Lee's Summit
1288 ft · 22 sec
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15
Merge slight left onto Blue Parkway
8.2 mi · 13 min · Blue Parkway
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16
Continue straight
40 mi · 47 min
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17
Take the exit slight right toward MO 13 Business: Warrensburg, Higginsville
961 ft · 29 sec
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18
Turn right onto North Maguire Street
1.3 km · 2 min · North Maguire Street
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19
Arrive at your destination
0 m · 1 sec · South Maguire Street
Car Route Details
A richer read on the saved driving route between Saint Joseph and Warrensburg.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
Blue Parkway
Continue straight
40 mi · 00h 47m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
A comfortable day-trip route
This route works well as a day trip. You can leave in the morning, spend meaningful time at the destination, and still return the same day.
Chance Showers And Thunderstorms leaving Saint Joseph and Chance Showers And Thunderstorms near Warrensburg.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Saint Joseph to Warrensburg?
The road trip is about 116.1 miles (186.9 km) and usually takes 02h 16m in normal driving conditions.
Is this a same-day trip or an overnight route?
This route works well as a day trip. You can leave in the morning, spend meaningful time at the destination, and still return the same day.
What is the halfway point on this route?
Randolph is a useful midpoint, sitting about 58 miles from Saint Joseph and 58.1 miles from Warrensburg.
How much longer is the road route than the straight-line distance?
The direct path is about 91.4 miles (147.1 km), while the road route adds roughly 24.7 extra miles because roads do not follow the straight air line.
When is the best time to leave for this route?
A good departure window is usually 8:00 AM to 10:00 AM CDT. If you want a more comfortable same-day return, try to leave by 1:56 PM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $15.46 one way or $30.92 round trip. Estimated CO2 is about 36.4 kg one way.
What should you check before leaving?
Before you leave, expect Chance Showers And Thunderstorms around Saint Joseph and Chance Showers And Thunderstorms near Warrensburg.
Stop Ideas Near Randolph
Useful break, food, and waypoint ideas within about 15 miles of the route midpoint.
Negro Leagues Baseball Museum
Parkville City Hall
St. Louis - Kansas City Carpenters Regional Council
Shawnee Town
Transit and Meeting Points
Useful pickup, handoff, or rendezvous points close to Randolph.
Independence
Union Station
Lee's Summit
Lawrence
Flight Path Map
This map shows the direct air route between Saint Joseph and Warrensburg. Straight-line distance: 91.43 mi (147.14 km).
#1 Saint Joseph
The most populous city in Buchanan County, Missouri.
| Population | 74,074 |
| Coordinates | 39.7686100, -94.8466300 |
| Altitude | 270 |
| Country | United States |
#2 Warrensburg
City in Missouri
| Population | 20,539 |
| Coordinates | 38.7627900, -93.7360500 |
| Altitude | 263 |
| Country | United States |
End: Warrensburg (-93.73605, 38.76279)
Estimated Travel Time
Distance: 187 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 03h 52m |
| 40 mph (64.37 km/h) | 02h 54m |
| 50 mph (80.47 km/h) | 02h 19m |
| 60 mph (96.56 km/h) | 01h 56m |
| 70 mph (112.65 km/h) | 01h 39m |
| 80 mph (129 km/h) | 01h 26m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $15.46 | $30.92 |
| Mid-grade | $4.25 | $17.44 | $34.87 |
| Premium | $4.65 | $19.08 | $38.16 |
| Diesel | $5.30 | $21.75 | $43.49 |
Assumes 8.3 L/100 km (about 28.3 MPG). CO2 is an estimate and varies by vehicle, fuel blend, traffic, and terrain.
Prices in Missouri · May 31, 2026
Distance to Other Cities
Planning a road trip? See the full trip guide on Trip.ovh — stops, fuel costs, weather, and departure timing.