The European watershed, which separates the catchment areas of the Rhine and the Danube, runs through the municipal district Lampertsweiler.

Bad Saulgau consists of the main town (with Bernhausen, Enge Weiler, Schwarzach and Wilfertsweiler) and 13 Ortsteile.

In 1239, it received town privileges from Frederick II, Holy Roman Emperor.

During World War II, a subcamp of the Dachau concentration camp was located in the town.

(Technisches Gymnasium, Wirtschaftsgymnasium) The Toin Gakuen Schule Deutschland, a Japanese international boarding secondary school, was previously located in Bad Saulgau, but closed in 2012.