How far is Warrensburg, MO from Saint Joseph, MO?
The driving distance from Warrensburg, MO to Saint Joseph, MO is about 116.3 miles (187.2 km), with a travel time of about 01h 54m by car.
- The straight-line flight distance is about 91.4 miles (147.1 km).
- For a round trip, plan for roughly 03h 48m 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 01h 54m.
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 Warrensburg and Saint Joseph.
Turn-by-Turn Driving Directions
Step-by-step road directions between Warrensburg and Saint Joseph.
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1
Start on South Maguire Street
1007 ft · 33 sec · South Maguire Street
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2
Turn left onto East Gay Street
1321 ft · 28 sec · East Gay Street
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3
Turn right onto North Holden Street
1856 ft · 45 sec · North Holden Street
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4
Turn left onto West Young Street
1.1 mi · 2 min · West Young Street
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5
Turn left
39.3 mi · 46 min
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6
Continue on Blue Parkway
7.7 mi · 12 min · Blue Parkway
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7
Take the exit slight right toward I 435 North
2282 ft · 39 sec
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8
Merge slight left
11.4 mi · 13 min
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9
Continue on I435 N
1.3 mi · 1 min · I435 N
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10
Continue straight
20.9 mi · 22 min
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11
Keep slight left to continue on I 29 North, US 71 North: Saint Joseph
26 mi · 28 min
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12
Take the exit slight right toward I 229 North: Downtown Saint Joseph
2673 ft · 54 sec
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13
Continue straight
5.7 mi · 7 min
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14
Take the exit slight right toward Central Business District
1382 ft · 34 sec
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15
Continue on Edmond Street
2408 ft · 58 sec · Edmond Street
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16
Turn left onto South 10th Street
841 ft · 21 sec · South 10th Street
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17
Turn right onto Frederick Avenue
116 m · 6 sec · Frederick Avenue
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18
Turn slight right onto Walter Welsh Avenue
42 m · 3 sec · Walter Welsh Avenue
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19
Arrive at your destination
0 m · 1 sec · Walter Welsh Avenue
Car Route Details
A richer read on the saved driving route between Warrensburg and Saint Joseph.
Highway-focused drive
Most of the mileage stays on named highways, so the important moments are ramps, exits, merges, and the final local approach.
Longest stretch
Turn left
39.3 mi · 00h 46m
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 Warrensburg and Chance Showers And Thunderstorms near Saint Joseph.
Trip Questions
Direct answers travelers usually want before committing to the drive.
How long does it take to drive from Warrensburg to Saint Joseph?
The road trip is about 116.3 miles (187.2 km) and usually takes 01h 54m 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 Warrensburg and 58.3 miles from Saint Joseph.
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 24.9 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 2:42 PM CDT.
How much will gas cost for this route?
Using about 28.3 MPG, regular gas is estimated at $15.50 one way or $31.00 round trip. Estimated CO2 is about 36.5 kg one way.
What should you check before leaving?
Before you leave, expect Chance Showers And Thunderstorms around Warrensburg and Chance Showers And Thunderstorms near Saint Joseph.
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 Warrensburg and Saint Joseph. Straight-line distance: 91.43 mi (147.14 km).
#1 Warrensburg
City in Missouri
| Population | 20,539 |
| Coordinates | 38.7627900, -93.7360500 |
| Altitude | 263 |
| Country | United States |
#2 Saint Joseph
The most populous city in Buchanan County, Missouri.
| Population | 74,074 |
| Coordinates | 39.7686100, -94.8466300 |
| Altitude | 270 |
| Country | United States |
End: Walter Welsh Avenue (-94.846632, 39.768853)
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 27m |
Fuel, Round Trip and CO2
Estimated fuel cost and emissions for this route.
| Fuel | $/gal | One way | Round trip |
|---|---|---|---|
| Regular gas | $3.77 | $15.50 | $31.00 |
| Mid-grade | $4.25 | $17.48 | $34.96 |
| Premium | $4.65 | $19.13 | $38.26 |
| Diesel | $5.30 | $21.80 | $43.60 |
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.