Cover photo for Steven Vencil Palmer's Obituary
Steven Vencil Palmer Profile Photo
1954 Steve 2023

Steven Vencil Palmer

February 5, 1954 — October 7, 2023

Kansas City


Steven Vencil Palmer, 69, of Kansas City, Missouri, passed away peacefully on Saturday, October 7, 2023 at University Health Truman Medical Center in downtown Kansas City. He was born in Monette, MO to Hubert and Donna Palmer. He was married to Susan Woods Palmer of Kansas City, MO on October 25, 2015.


Steven attended Cape Central High School in Cape Girardeau, MO where he was a valued member of the Tigers football team (#72). After graduating in 1972, Steven continued his football career at Southeast Missouri State University from 1973 to 1974.


Steven proudly served as a Police Officer, Sergeant (C49), Firefighter, and Field Training Officer for 26 years. In 1985, Steven began his career at the Department of Public Safety in Miner, MO. After serving the people of Miner for 12 years, he took a position with the Department of Public Safety in Sikeston, MO in 1997. Steven retired from the Sikeston Department of Public Safety in 2011. Following retirement, he worked as a Security Supervisor at the Truman Sports Complex for the Kansas City Chiefs and Kansas City Royals from 2015-2019. 


Steven devoted his last 42 years as a faithful servant of the Lord. He was a Pastor of the Community of Christ church, following his father, Hubert Carrol Palmer. He regularly attended Open Arms Community of Christ, Good Shepherd and First People of Blue Ridge Community of Christ. 

Steven loved riding his motorcycle. In 2010, he founded the Peace Riders Motorcycle Ministry and Outreach in Kansas City and rode with Christian Motorcyclists Association. He was a member of the Blue Knights Motorcycle Club at Cape Girardeau, the H.O.G Chapter at Grandview, MO, and the Community of Christ Professional Law Enforcement Officer Association. 


Steven also loved sports and was an avid Kansas City Chiefs, Kansas City Royals, St. Louis Cardinals and Missouri Tigers fan. He loved old Western movies, especially starring John Wayne. He loved fishing, nature hikes, cups of coffee on the porch, reading his Bible, and spending time with his friends and family, especially his grandkids. He also collected Police uniform patches, along with various other patches. He always had a special connection with kids; many are now grown and still speak of their fond memories of him. He was a "beacon in the storm," and will forever live in our hearts.


Loving survivors include his wife Susan; seven children: Ryan (Melissa) Medlin, Jackson, MO; Andrea (Scott) Shepherd, Knoxville, TN; Ross (Lyka) Palmer, Blue Springs, MO; Casey (Robbie) Hohler, Jackson, MO; Samantha Roper, Blue Springs, MO; and Steven Woods, New York, NY; four siblings: Donnie (Diana) Palmer, Cape Girardeau, MO; Clifford (Jeri) Palmer, Jackson, MO; Russell (Charlynda) Palmer, Whitewater, MO; and Kathryn (Tim) Sievers, Jackson, MO; nine nieces and nephews, and 13 grandchildren.


He was preceded in death by his parents Hubert C. Palmer (90) and Donna R. Palmer (87).


Steven was loved by all whom met him. While he will be greatly missed, we know he is rejoicing in the presence of the Lord! 


"His lord said unto him, Well done, good and faithful servant; thou hast been faithful over a few things, I will make the ruler over many things: enter thou into the joy of thy lord." - Matthew 25:23

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Service Schedule

Past Services


Saturday, October 14, 2023

1:00 - 2:00 pm (Central time)

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Funeral Service

Saturday, October 14, 2023

2:00 - 3:00 pm (Central time)

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Saturday, October 14, 2023

Following Funeral Service

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