Denkendorf includes the homestead Spieth-Hof and the house Friedrichsmühle as well as proofs of the former village "Der hangende Hof".

[3] Adjacent municipalities are Esslingen am Neckar in the north, Deizisau in the northeast, Köngen in the east Unterensingen in the south, Neuhausen auf den Fildern in the west and Ostfildern in the northwest (all Esslingen district).

During the construction of the Autobahn (A8 today) in 1935, a series of Alemannic burial sites was uncovered, which are dated in the period shortly before 700 A.D. After the end of World War II, the population soared, quadrupling from 1945 to 1995.

The twinning involves summer camps, annual festivals, tournaments and student exchanges.

From 1926 to 1978 Denkendorf was connected by the tram service of the Esslingen–Nellingen–Denkendorf Tramway [de] with the county town of Esslingen am Neckar.