Hörbach was first mentioned in 1127 as Huruuuinin, meaning "settlement on marshy creek" (from the Middle High German word hurwin for " swampy ").

At the southeastern edge of the town is the castle hill - an artificially raised motte that was surrounded by a moat.

Engelschalk and Hermann von Hegnenberg were first mentioned in 1192 ; they came from Swabia (Schmalegg near Ravensburg) and had to protect the Guelph Altomünster Abbey.

They were witnesses at coronations, monastic foundations (Fürstenfeld), and in legal transactions of the church, the country gentlemen and the nobility.

Only after the tragic death of the young king Conradin (1268) the possessions of the Staufer passed to the Wittelsbach family, and came thus to Bavaria.