Warsop is a civil parish in Mansfield District, Nottinghamshire, England, on the outskirts of the remnants of Sherwood Forest. At the 2021 census the population was 12,644 residents, including the settlements of Market Warsop, Church Warsop, Warsop Vale, Meden Vale, Sookholme and Spion Kop.

Church Warsop appeared in the Domesday Book of 1086 as a settlement named Wareshope and was recorded as having a church which was St Peter and St Paul. This formed part of the hundred of Bassetlaw. The area was divided amongst the Saxon Lords Godric, Leviet, and Ulchel. Gleadthorpe Grange was also recorded in Domesday. From the Norman conquest period onwards, Warsop was held by the Norman Baron Roger de Busli, and partially held by the King's Soke of Mansfield. Sookholme and its medieval church St Augustine's along with Nettleworth Manor were first recorded later in public records during the 12th century.

King John and Edward I are reputed to have had impromptu parliaments at the Parliament Oak Tree in the far east of the parish during the 13th century.

Henry III granted the advowson of the manor to Robert de Lexington in 1232, and after his death it passed to his brother John and further to his wife’s nephew Robert de Sutton, becoming lord of the manor in 1268. John Nunnes of London, obtained the manor in 1329 and he established a market in 1330. Two annual fairs were eventually granted along with a Saturday market located south of the River Meden. By this time, this area was known as Warsop Fair Town, and later Market Warsop, the original settlement north of the Meden becoming Church Warsop. The wider manor passed through to the de Roos family and their heirs the Earls of Rutland. The Knight family bought the manor In 1675, and in 1846 it was inherited by Sir Henry FitzHerbert of Tissington, the family continue hold much of the area into the present day.

Warsop watermill was built in 1767.

Warsop windmill, first called Forest Mill but also later known as Bradmer Mill, was a stone-built tower erected in 1825. It was 28 feet high with three storeys, a fourth storey being added later in brick. The mill had four sails, two of which were blown down by a gale in 1910, after which the mill was worked for a short time on the two remaining sails. By the 1920s the mill had lost all its sails and its cap. The tower is a Grade II listed building, standing to the southeast of Warsop close to the A6075.

In 1930, Samuel Fell Wilson, a Warsop grocer, wine merchant, and publisher of the Warsop and District Almanack, was shot in the head and chest as he sat in his car outside the mill. A street bears his name.

Warsop Town Hall was completed in 1933.