Dobra Wola [ˈdɔbra ˈvɔla] is a village in the administrative district of Gmina Lipowiec Kościelny, within Mława County, Masovian Voivodeship, in east-central Poland. It lies approximately 3 kilometres (2 mi) south-east of Lipowiec Kościelny, 11 km (7 mi) west of Mława, and 110 km (68 mi) north-west of Warsaw.