Eric Shane Kilgore was charged on Friday with electronic solicitation of a child.
At the time of the alleged crimes, he was a principal at Piper East Elementary School.
Investigators said he engaged in contact with a child he believed to be under the age of 14.
The case first came to light back in February, when the district became aware of the allegations. A letter was sent out to parents to let them know what had been reported.
Kilgore was placed on administrative leave at the time and has since been terminated.
According to a release from the district, when he took the job as principal, Kilgore started his teaching career in 2009 and worked in the Kansas City, Kansas School District as a middle school administrator before taking the job with Piper Schools.
Kilgore is married, has a child, and lives in Parkville.
He posted bond on Friday afternoon and is due back in court on June 6.
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