Hirrlingen is located roughly nine kilometers south west of Rotteburg am Neckar and around nine kilometers north west of Hechingen at the border of the landscape conservation area Rammert above the Starzel.

Parts of the environmental protection zones Kapfhalde and Espenloch-Hintere Halde are located within the municipality Hirrlingen.

In the first half of the 12th century, an Ortschaft called Marpach or Marbach was located in what is today the Flur Harbach.

[3] Starzach includes parts of the nature reserve of Espenloch-Hintere Halde as well as the landscape conservation areas Rauher Rammert and Katzenbachtal.

Through acquisitions made in the 15th and 16th century, the Ow established local lordship over Hirrlingen, which as a manor was part of the souvereignty of Further Austria.

In 1557/1558, the Lords of Ow built the Hirrlingen castle, the St. Martin Church in 1606 and a St.-Sebastianus Brotherhood in the 18th century.