The first permanent settlement has been ducumented in a document from 1080 of the Comburg monastery and later in 1248 in a letter by Pope Innocent IV.

[3] The last noblemen residing in Ingelfingen was Friedrich Ludwig who built the "Mariannenvorstadt", an industrial suburb.

[3] In 1972/73, six neighboring villages were incorportated into Ingelfingen and since then function as boroughs of the town (Ortsteile).

Notably, it was in a heavy dispute over land use with the neighboring village of Ingelfingen in the late 16th century.

[4] First documented in 1326 as Dybach, the village then consisted of two settlements, Lower-Diebach and Upper-Diebach, the latter being abandoned before 1703.

In the 13th century, the village belonged to the noblemen of Krautheim, in 1365 to the counts of Eberstein and later to Mainz and then to Württemberg.

[7] Hermutshausen originated in the early middle ages, possibly being the "villa Herimitteshusen" that was mentioned in the Codex Eberhardi (Fulda) in the 9th century.

[9] Weldingsfelden originated in the early middle ages and was first historically mentioned in a document of 1310 as Waeltingesvelden.

There were several smaller hamlets around the village, such as Untereschach and Obereschach in the 16th century, Velenweiler around 1304 and Eschenhof which is the only one that did not go extinct.