Higginsville is a city in Lafayette County, Missouri, within the United States. The population was 4,817 at the 2020 census.

Lafayette County is a county in the western portion of Missouri, part of the Kansas City metropolitan area. As of the 2020 census, the population was 32,984. Its county seat is Lexington. The county was organized November 16, 1820, from Cooper County and originally named Lillard County for James Lillard of Tennessee, who served in the first state constitutional convention and first state legislature. It was renamed Lafayette County on February 16, 1825, in honor of Revolutionary War hero the Marquis de La Fayette, who was then visiting the United States.