The Warrensburg Micropolitan Statistical Area consists of Johnson County.

The city is a college town as it is home to the University of Central Missouri.

Warrensburg was founded in 1835 by European-American settlers John and Martin D. Warren, who gave the town their last name.

[6] The phrase "Man's best friend" is based on a famous trial over the killing of Old Drum, a dog who was shot in Warrensburg.

[7] In 1958, a statue of Old Drum was erected on the Johnson County Courthouse lawn containing a summation of US Senator George G. Vest's closing speech, “A man’s best friend is his dog.”[8][9] The current mayor is Jim Kushner.

[12] Composition White American The 2020 United States census[13] counted 20,313 people, 7,398 households, and 3,418 families in Warrensburg.

There were 8,202 housing units at an average density of 871.6 per square mile (336.5/km2).

Of all households, 34.5% consisted of individuals and 12.1% had someone living alone who was 65 years of age or older.

As of the census[15] of 2010, there were 18,838 people, 6,803 households, and 3,400 families living in the city.

31.2% of all households were made up of individuals, and 8.1% had someone living alone who was 65 years of age or older.

30.8% of all households were made up of individuals, and 8.5% had someone living alone who was 65 years of age or older.

The university offers programs in 150 areas of study and serves approximately 12,500 students as of 2014.