Bicycles are such a common means of transport in the area that many cycle paths have been built, even alongside main roads outside the town.

The origin and name Warendorf date back to the ancient Saxon royal court of Warintharpa (“the village on the embankment”), which was most likely already formed in 700 BC.

The wealth of Warendorf grew increasingly and developed more and more into an important trading town, since it is situated favourably between Münster and Oelde.

In 1404 there was a great fire in Warendorf, during which along with 600 houses also the “old church” (St. Laurentius) and the town hall with all its inventory were destroyed.

This movement took over rule in the town for one week in October 1534, until it was ended by a short occupation by Bishop Franz von Waldeck.

Free elections of the local council were first held in 1556 under Bishop Franz von Waldeck's successor.

Because of its varying landscape of fields, pastures, small forests and hedgerows, people compare this area to a park.

A notable annual event in Warendorf is the celebration on 15 August of the Feast of the Assumption of the Blessed Virgin Mary (Mariä Himmelfahrt).

North Rhine-Westphalia's "Landgestüt" (stud farm) and the National Olympic Committee for horse-riding are both located in Warendorf.

The Bundeswehr Sports School, the German armed forces physical education center, is also located in Warendorf.