Hohenurach Castle was first mentioned in a document in 1235. Count Ludwig I of Württemberg had the castle modernised in 1427 and built a new castle on the foundation walls. After the castle had been heavily destroyed by the Schmalkaldic War in 1547, Duke Christoph of Württemberg had the castle rebuilt in 1551. From the 16th century onwards, the castle complex also served as a state prison. The Tübingen professor Nikodemus Frischlin (1547-1590) was imprisoned there.
A military complex such as the Hohenurach state fortress also posed a constant threat to the citizens of the nearby town. However, it was Duke Carl Eugen von Württemberg who decided in 1765 to move his soldiers to the city and to demolish the Hohenurach state fortress. Only a huge ruin remained of the castle complex, one of the largest, most massive and most significant in southern Germany.
The castle ruin is freely accessible, but can only be reached on foot.