Warrensburg is located at 43°29'47" North, 73°46'35" West (43.496389, -73.776389).
According to the United States Census Bureau, the town has a total area of 11.29 mi2 (29.25 km2). 11.08 mi2 (28.71 km2) of it is land and 0.21 mi2 (0.54 km2) of it is covered by water. The total area is 1.85% water.
Warrensburg is located in the Eastern Standard Time (EST) timezone, GMT-05:00. It observes Daylight Saving Time (DST).