No one was injured, but witnesses said that the elephants stormed the Family Arena parking lot, damaging nearby cars and trucks.
"These huge elephants literally went through these huge RVs. Then they went through two trucks breaking mirrors off, and panels off and breaking the windows," Sally Schmiz told KMOV.
"We saw all these people running after them," eyewitness Karyn Tunnicliff told KSDK, "and they were all screaming 'stop, stop,' and several of the circus people were trying to run alongside them."
"The elephants were loose for a brief period," Dennis Kelley, President of Moolah Shriners Circus, said in a statement. "The handlers were able to occupy the animals and they are resting comfortably at this time."
The animals roamed free for about 45 minutes before their trainers got them under control.
British store recalls exploding wine bottles
Video: Chewbacca breaks up superhero fight