Then in the 12th century Lauterbach became a fief of the count Ziegenhein from the cloister in Fulda.

In the same year, Lauterbach started to build the castle (Burg) and the city wall.

Following the Napoleonic Wars and Congress of Vienna, Lauterbach belonged to the grand duchy of Hesse.

In 1972, several villages were incorporated into the town of Lauterbach: Allmenrod, Frischborn, Heblos, Maar, Reuters, Rimlos, Rudlos, Sickendorf, Wallenrod and Wernges.

The Schrittsteine (stepping stones) were used as a shortcut to get to the local water fountain.