Dennis R. Herndon, 78, of Kingdom City, passed away Saturday June 18, 2022, at Boone Hospital in Columbia. Dennis was born in Cole County, Missouri, on August 17, 1943, the son of Arvel and Della (Branson) Herndon. Survivors include his wife, Marilyn; granddaughter, Polly Herndon-Houston, of Kingdom City; and sister, Mary Fay Keeran and husband Raymond, of Jamestown, Missouri. Private services will be held for the family. Burial will be in East Lawn Memorial Park in Mexico. Pickering Funeral Home is handling the arrangements. Condolences to the family may be given at pickeringfh.com