The implications of the recently proposed trans-Planckian censorship conjecture (TCC) are analyzed in the context of warm inflation. It is found that for a single-stage accelerated expansion the constraints imposed by the censorship are roughly the same as for cold inflation. Next, we study how a two-stage inflationary expansion with an intermediate radiation-dominated era can alleviate the bounds imposed by the censorship. For a demonstrative toy model we found $r<{10}^{-23}$, but can be $r<{10}^{-5}$ for a weaker form of TCC for the later stages of expansion, while still satisfying the other swampland conditions.