Heritage Park is a 1,238-acre park is located at 159th and Pflumm Road. Purchased in 1979, it consists of 10 various sized shelters, picnic areas, a 40-acre lake, marina, a 30-acre dog off-leash area, play areas, outdoor exercise equipment, softball, football, and soccer fields, concessions, and the 18-hole championship Heritage Park Golf Course.
The master plans for Heritage Park as well as Ernie Miller and Shawnee Mission Parks were developed, proposed and completed by the consulting team Landplan Engineering, submitting a plan titled "3 Plans for 3 Parks." The plan was approved by the JCPRD’s Board of Park and Recreation Commissioners on December 17, 2003. The Board approved a new Master Plan for Ernie Miller Park and Nature Center in 2017.