Warrensburg Circuit Court is the circuit court of Johnson County in the Seventeenth Judicial Circuit of the Missouri Circuit court system. Hearings for city ordinance and traffic violations in the cities of Centerview (SR 58), Chilhowee (SR 2 and SR O), Holden (SR 58 and SR 131), Kingsville (SR 58, SR T and SR W), Latour (SR 2), and Leeton (SR 2 and SR EE) are held in the Associate division of the circuit court.

Warrensburg recently received the Train Town USA designation from the Union Pacific railroad. This is partly in recognition of the city's establishment as a result of the Transcontinental Railroad Act during Abraham Lincoln's administration. The city was part of the Louisiana Purchase and around 1818 a hunting expedition to the area of Warrensburg. This was soon followed by game hunters looking for badgers, deer, foxes, mink, muskrats, panthers, partridges, prairie chickens, quail, raccoons, rodents, turkeys and weasels. Around 1830 Johnson County land was free to anyone who would file claim to a specific plot; however around 1836 a group of of original founding fathers authorized the purchase of the land area that would eventually become called Warrensburg.