Warrensburg is a town in Warren County, New York, USA. It is part of the Glens Falls, New York Metropolitan Statistical Area. The population was 4,255 at the 2000 census. Like the county, the town is named after General Joseph Warren. The Town of Warrensburg is in the southeast part of the county and west of Lake George. U.S. Route 9 passes through the town, which is immediately west of Interstate 87 (The Northway).

Warrensburg was first settled near Warrensburg village around 1790. The town was established in 1813 by a division of the original Town of Thurman, leaving a remainder called "Athol". The James Fenimore Cooper novel, The Last of the Mohicans, was written in a second story storefront-apartment along what is now Main Street (US 9) in Warrensburg. Every year Warrensburg hosts what is claimed to be the World's Largest Garage Sale.

• Riverbank -- A hamlet on the town line in the northeast part of the town.