Haigerloch was mentioned for the first time in 1095 on the occasion of a donation made in the castle there. This castle is probably the complex in the upper town, Haigerloch Castle, from which the Roman tower is still preserved today. Around 1200, the Counts of Hohenberg appeared as rulers and built a new castle on the Schlossberg, around which the lower town developed as a market town.
Rudolf I, a brother-in-law of Albrecht II of Hohenberg-Haigerloch, granted city rights to Haigerloch before 1231. [4] In 1268, a battle raged outside the city gates between Zollern and Hohenbergern, in 1291 the city was besieged by Count Eberhard I of Württemberg, and in 1347 the city was again besieged. From 1356 onwards, the upper town and lower town were administratively separated, but were reunited when the Haigerloch rule was sold to Austria in 1381. The Habsburgs mortgaged the property in various ways, including to the Counts of Württemberg.
In 1497, the city fell under the rule of the Hohenzollern. Under Christoph von Hohenzollern-Haigerloch, the area around Haigerloch became an independent territory in the area of the Holy Roman Empire of the German Nation in 1576 as Hohenzollern-Haigerloch. During this period, today's castle complex was built on the Schlossberg, which replaced the high medieval complex and was the residence of the Counts of Hohenzollern-Haigerloch. In 1634 the city and the rulers fell to the Hohenzollern-Sigmaringen line, whose residence was Haigerloch from 1737 to 1769.