Yes, primitive camping is allowed in Missouri, namely in the Mark Twain National Forest and on some private Hipcamp lands. The national forest allows dispersed, primitive camping as long as campers set up more than 100 feet away from any established administrative sites.
The forest's 1.5 million acres are spread across seven non-contiguous locations in southern Missouri. In addition, several Missouri Conservation Department locations also allow primitive camping, as do some state parks. While canoeing on the Ozark National Scenic Riverways, primitive camping is allowed on gravel bars.