The Howard County Sheriff's Department said at about 1:15 a.m. Monday, Walter Lee Estay, 21, managed to escape the county jail during a jail check.
Authorities said somehow a door didn't get locked and Estay managed to take a jailer's cell phone, some money and escaped.
He left the jail on foot and later stole a darker color Toyota RAV4 with the license plate MG1 P9F.
Estay stole the SUV which was parked on a residential street in Fayette.
The 21-year-old is from Kansas City and is believed to be headed that direction.
He is a black male, 5'8" and 130lbs.
The escaped inmate was being held in the Howard County jail for first-degree tampering with a motor vehicle.
Court records show Estay was charged with first-degree robbery from an incident in March 2012 and received a probation sentence which was then suspended.
In 2012 Estay was sentenced to 259-days in jail for tampering with a motor vehicle in 2010.