Prairie Village is located at 38°59'23N, 94°38'10W (38.989655, -94.636162).
According to the United States Census Bureau, the city has a total area of 16.1 km² (6.2 mi²), all land.
As of the census of 2000, there were 22,072 people, 9,833 households, and 6,165 families residing in the city. The population density was 1,370.1/km² (3,547.1/mi²). There were 10,126 housing units at an average density of 628.6/km² (1,627.3/mi²). The racial makeup of the city was 96.15% White, 0.78% African American, 0.16% Native American, 1.13% Asian, 0.03% Pacific Islander, 0.64% from other races, and 1.11% from two or more races. Hispanic or Latino of any race were 2.27% of the population.
There were 9,833 households out of which 26.6% had children under the age of 18 living with them, 52.8% were married couples living together, 7.9% had a female householder with no husband present, and 37.3% were non-families. 32.6% of all households were made up of individuals and 13.8% had someone living alone who was 65 years of age or older. The average household size was 2.23 and the average family size was 2.84.
In the city the population was spread out with 22.2% under the age of 18, 4.6% from 18 to 24, 29.6% from 25 to 44, 24.0% from 45 to 64, and 19.6% who were 65 years of age or older. The median age was 41 years. For every 100 females there were 85.0 males. For every 100 females age 18 and over, there were 80.2 males.
The median income for a household in the city was $58,685, and the median income for a family was $70,602. Males had a median income of $50,428 versus $37,321 for females. The per capita income for the city was $34,677. About 1.4% of families and 2.5% of the population were below the poverty line, including 2.6% of those under age 18 and 2.5% of those age 65 or over.