The three villages of Engelsbrand, Salmbach, and Grunbach were founded in the 11th or 12th centuries Waldhufendorf as part of the settling of the area around Hirsau Abbey.

This application was approved on 10 September of the same year, making Engelsbrand subservient to the Count of Württemberg.

The coat of arms of Engelsbrand shows a holly leaf with two berries and a burning log over a white field divided by an oblique and wavering blue band, combining the coats of arms of the three villages in the municipality.

A first draft of this coat of arms, commemorating the merger of Engelsbrand, Grunbach, and Salmbach into one municipality on 1 January 1975, was authorized for use by the Enzkreis district office on 20 December 1984.

The blue band is taken from Grunbach and Salmbach, as is the holly leaf that symbolizes the flora of the Black Forest, while the burning log, representing forest-clearing activities by medieval farmers, is from Engelsbrand proper.