Warmsworth is a village and civil parish of Doncaster in the City of Doncaster in South Yorkshire, England. Its population was estimated at 3,908 in 2019. The village lies along the A1 Doncaster Bypass and the A630. The River Don is close to the village. Sprotbrough, Edlington, Conisbrough, Levitt Hagg and Balby surround Warmsworth. It lies 4 miles from Doncaster.