Heitersheim is a town in the district Breisgau-Hochschwarzwald, Baden-Württemberg in southern Germany.

It was the seat of the Grand Prior of Germany of the Knights Hospitaller from 1505 until 1806 and also the seat of the Principality of Heitersheim of the Holy Roman Empire from 1546 until 1806.

The city is located in Markgräflerland in South Baden.

The city contains older central part Heitersheim and newer Gallenweiler.

The Austrian town of Vandans is the sister city of Heitersheim since 1991.