Palmyra Township covers an area of 82.57 square miles (213.9 km2) and contains one incorporated settlement, Baldwin City.

According to the USGS, it contains six cemeteries: Baldwin City, Brumbaugh, Oakwood, Old Black Jack, Prairie City and Vinland.

The stream of Wymore Creek runs through this township.

Although these towns may not be incorporated or populated, they are still placed on maps produced by the county.

Palmyra Township contains one airport or landing strip, Vinland Valley Aerodrome.