Irmingard of Henneberg was the daughter of Berthold I of Henneberg and Bertha of Putelendorf.
She was the older sister of Poppo VI von Henneberg (1140–1191), Lukardis von Henneberg (1142–1220), and Otto IV Count of Henneberg (1144–1212).
Irmingard married Conrad, Count Palatine of the Rhine on 1160.
Irmingard died of unknown causes in 1197 at the age of 61-63.
Her burial place is unknown.