In Missouri, US 24 serves Kansas City, Independence, Buckner, Lexington, Waverly, Carrollton, Keytesville, Moberly, Madison, Monroe City, Palmyra and West Quincy. It is concurrent with U.S. Route 65 between Waverly and Carrollton, passing over the Missouri River via the Waverly Bridge when concurrent. After becoming a two-lane road, it is then concurrent with Highway 5 in Keytesville (where it is called Jackson Street), and then passes by the city of Huntsville before turning into a four-lane highway and crossing U.S. 63 at Moberly. It is finally concurrent (for the third time) with U.S. Route 36 east of Monroe City and with U.S. Route 61 from south of Palmyra to West Quincy. The segment shared with US 61 is part of the Avenue of the Saints.