These data are high-resolution bathymetry (riverbed elevation) and depth-averaged velocities in ASCII format, generated from hydrographic and velocimetric surveys near highway bridge structures over the Missouri River in Kansas City, Missouri, in August 2019, as well as special surveys at two of the sites in August and October 2020 before and after installation of scour countermeasures. Hydrographic data were collected using a high-resolution multibeam echosounder mapping system (MBMS), which consists of a multibeam echosounder (MBES) and an inertial navigation system (INS) mounted on a marine survey vessel. Data were collected as the vessel traversed the river along planned survey lines distributed throughout the reach. Data collection software integrated and stored the depth data from the MBES and the horizontal and vertical position and attitude data of the vessel from the INS in real time. Data processing required computer software to extract bathymetry data from the raw data files and to summarize and map the information. Velocity data for the August 2019 surveys were collected using an acoustic Doppler current profiler (ADCP) mounted on a survey vessel equipped with a differential global positioning system (DGPS). Data were collected as the vessel traversed the river along planned transect lines distributed throughout the reach. Velocity data were processed using the Velocity Mapping Toolbox (Parsons and others, 2013), and smoothed using neighboring nodes. There are 12 zip files for 8 sites available for download containing the bathymetric data and depth-averaged velocities. The files follow the format of "site-##_MissouriRiver_HWY#_YYYY-MM.zip", where "site-##" is the site number from 06 to 13, "HWY#" is the highway type and route number, and "YYYY-MM" is the survey date (year and month). The files for the 2019-08 surveys contain two comma-delimited text files, one with the bathymetry and uncertainty data and one with the depth-averaged velocity data, as well as associated metadata. The files for the 2020-08 and 2020-10 surveys before and after installation of scour countermeasures at sites 08 and 12 do not include velocity data, but contain only the comma-delimited bathymetry and uncertainty data for a smaller area near the main channel pier and associated metadata. Reference cited: Parsons, D.R., Jackson, P.R., Czuba, J.A., Engel, F.L., Rhoads, B.L., Oberg, K.A., Best, J.L., Mueller, D.S., Johnson, K.K., and Riley, J.D., 2013, Velocity Mapping Toolbox (VMT) A process and visualization suite for moving-vessel ADCP measurements: Earth Surface Processes and Landforms, v. 38, no. 11, p. 1244-1260., https://doi.org/10.1002/esp.3367