Kaulsdorf is a municipality in the district Saalfeld-Rudolstadt, in Thuringia, Germany.

The place was first mentioned in 1074 in a document from the Benedictine monastery in Saalfeld.

[4] Kaulsdorf originally belonged to the County of Weimar-Orlamünde as a Wettin fiefdom.

Part of the area was given as a fief to the Margraviate of Brandenburg-Bayreuth under Bohemian suzerainty in 1427 and sold to the Schwarzburgers in 1438 and by them to the Mansfeld-Vorderort in 1503.

Within the German Empire (1871-1918), Kaulsdorf was part of the Prussian Province of Saxony.