How far is Warrensburg, MO from Cape Girardeau, MO?
The driving distance from Warrensburg, MO to Cape Girardeau, MO is about 321.2 miles (517 km), with a travel time of about 04h 54m by car.
- The straight-line flight distance is about 250.6 miles (403.3 km).
- For a round trip, plan for roughly 09h 48m of driving time before adding stops, traffic, or weather delays.
- A comfortable departure window is usually 6:00 AM to 8:00 AM CDT.
Reverse, save, or send this route
This drive is better planned with a longer stop or an overnight stay. Copy the route link, send it to another device, or print a clean version before you head out.
This drive is better planned with a longer stop or an overnight stay.
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 04h 54m.
An early departure helps you fit a real stop into the day without turning the return into a late-night drive.
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 Warren County, Missouri, United States
Route Weather Snapshot
Check the forecast at both ends before you head out.
Chance Showers And Thunderstorms
Mostly Sunny then Slight Chance Showers And Thunderstorms
Driving Route Map
The map below follows the saved road route between Warrensburg and Cape Girardeau.
Turn-by-Turn Driving Directions
Step-by-step road directions between Warrensburg and Cape Girardeau.
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1
Start on South Maguire Street
1.5 mi · 3 min · South Maguire Street
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2
Enter the roundabout and take exit 2 toward the route
41 m · 2 sec
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3
Exit the roundabout
2.8 mi · 4 min
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4
Enter the roundabout and take exit 2 toward the route
54 m · 2 sec
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5
Exit the roundabout
12.1 mi · 15 min
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6
Take the exit right toward I 70 East, US 40 East: Columbia
954 ft · 23 sec
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7
Merge slight left onto Dwight D. Eisenhower Highway
19.9 mi · 21 min · Dwight D. Eisenhower Highway
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8
Continue on U.S. Submarine Veterans' Memorial Highway
32 mi · 34 min · U.S. Submarine Veterans' Memorial Highway
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9
Keep slight left to continue on U.S. Submarine Veterans' Memorial Highway
22.4 mi · 24 min · U.S. Submarine Veterans' Memorial Highway
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10
Continue on Dwight D. Eisenhower Highway
1.8 mi · 2 min · Dwight D. Eisenhower Highway
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11
Continue on Highway Patrol Sgt. Benjamin Booth Memorial Highway
1.6 mi · 2 min · Highway Patrol Sgt. Benjamin Booth Memorial Highway
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12
Continue on Sheriff Roger I. Wilson Memorial Highway
1.9 mi · 2 min · Sheriff Roger I. Wilson Memorial Highway
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13
Continue on Dwight D. Eisenhower Highway
81 mi · 1 hr 35 min · Dwight D. Eisenhower Highway
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14
Take the exit slight right toward I 64 East, US 40 East, US 61 South: Chesterfield
1567 ft · 33 sec
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15
Merge slight left onto Avenue of the Saints
25.1 mi · 31 min · Avenue of the Saints
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16
Take the exit slight right toward I 270: Chicago, Memphis
1829 ft · 39 sec
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17
Keep slight right to continue on I 270 South: Memphis
1691 ft · 31 sec
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18
Merge slight left
11.5 mi · 14 min
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19
Take the exit slight right toward I 55, US 61, US 67: Saint Louis, Memphis, Lemay Ferry Road
1911 ft · 27 sec
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20
Keep slight right to continue on I 55 South: Memphis
2031 ft · 44 sec
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21
Merge slight left onto Rosa Parks Highway
1.5 mi · 2 min · Rosa Parks Highway
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22
Continue on Officer Thomas G. Smith, Jr. Memorial Highway
1.8 mi · 2 min · Officer Thomas G. Smith, Jr. Memorial Highway
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23
Continue on Police Officer Steven Jarvis Memorial Highway
93.1 mi · 1 hr 40 min · Police Officer Steven Jarvis Memorial Highway
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24
Take the exit slight right toward US 61, MO 34, I 55 Business: Cape Girardeau, Jackson
814 ft · 17 sec
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25
Keep slight left to continue on I 55 Business, US 61 South, MO 34 East: Cape Girardeau
1354 ft · 29 sec
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26
Continue on North Kingshighway
3.6 mi · 6 min · North Kingshighway
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27
Turn left onto Broadway Street
2 mi · 4 min · Broadway Street
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28
Arrive at your destination
0 m · 1 sec · Broadway Street
Car Route Details
A richer read on the saved driving route between Warrensburg and Cape Girardeau.
Long-distance drive
This route is long enough that fuel, rest stops, weather, and timing matter more than any single maneuver.
Police Officer Steven Jarvis Memorial Highway
Continue on Police Officer Steven Jarvis Memorial Highway
93.1 mi · 01h 40m
Route Summary
A quick read on whether this route feels easy, ambitious, or worth planning around.
A longer out-and-back drive
This is still possible in one day, but it becomes a long driving day. Leaving early and planning your stop window matters more here.
Chance Showers And Thunderstorms leaving Warrensburg and Mostly Sunny then Slight Chance Showers And Thunderstorms near Cape Girardeau.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Warrensburg to Cape Girardeau?
The road trip is about 321.2 miles (517 km) and usually takes 04h 54m in normal driving conditions.
Is this a same-day trip or an overnight route?
This is still possible in one day, but it becomes a long driving day. Leaving early and planning your stop window matters more here.
What is the halfway point on this route?
Warrenton is a useful midpoint, sitting about 158.9 miles from Warrensburg and 162.4 miles from Cape Girardeau.
How much longer is the road route than the straight-line distance?
The direct path is about 250.6 miles (403.3 km), while the road route adds roughly 70.6 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 6:00 AM to 8:00 AM CDT. If you want a more comfortable same-day return, try to leave by 7:12 AM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $42.76 one way or $85.53 round trip. Estimated CO2 is about 100.8 kg one way.
What should you check before leaving?
Before you leave, expect Chance Showers And Thunderstorms around Warrensburg and Mostly Sunny then Slight Chance Showers And Thunderstorms near Cape Girardeau.
Stop Ideas Near Warrenton
Useful break, food, and waypoint ideas within about 15 miles of the route midpoint.
Warrenton City Animal Control
Warrenton City Hall
Transit and Meeting Points
Useful pickup, handoff, or rendezvous points close to Warrenton.
Hermann
Washington
Kirkwood
Gateway Transportation Center
Flight Path Map
This map shows the direct air route between Warrensburg and Cape Girardeau. Straight-line distance: 250.61 mi (403.32 km).
#1 Warrensburg
City in Missouri
| Population | 20,539 |
| Coordinates | 38.7627900, -93.7360500 |
| Altitude | 263 |
| Country | United States |
#2 Cape Girardeau
The second-largest city in Cape Girardeau County, Missouri.
| Population | 41,588 |
| Coordinates | 37.3058800, -89.5181500 |
| Altitude | 108 |
| Country | United States |
End: Broadway Street (-89.518146, 37.305904)
Estimated Travel Time
Distance: 517 km by road
| Speed | Time |
|---|---|
| 30 mph (48.3 km/h) | 10h 42m |
| 40 mph (64.37 km/h) | 08h 01m |
| 50 mph (80.47 km/h) | 06h 25m |
| 60 mph (96.56 km/h) | 05h 21m |
| 70 mph (112.65 km/h) | 04h 35m |
| 80 mph (129 km/h) | 04h 00m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $42.76 | $85.53 |
| Mid-grade | $4.25 | $48.23 | $96.46 |
| Premium | $4.65 | $52.78 | $105.55 |
| Diesel | $5.30 | $60.15 | $120.29 |
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.