Boonesboro, Howard County, Missouri, USA is located on Route 87 midway between Boonville and Glasgow in the historical Boone's Lick country. The community was laid out in 1840 on the Boone's Lick Trail and is named for frontiersman Daniel Boone. Boone's Lick State Historic Site is nearby. Noteworthy establishments include the Christian Church and the Two Palms Restaurant.