From 1400, the enclave and town of Lippstadt were to be a condominium shared by the county of Lippe and the counts of Cleves-Mark, who were succeeded by the Hohenzollerns (Brandenburg/Prussia), a situation that endured until the middle of the 19th.

In 1523 it formed a defensive alliance together with the neighbouring cities of Osnabrück, Dortmund, Soest and Münster.

Augustinians studying at the University of Wittenberg brought Martin Luther's doctrine home with them.

Colonel Edward Morgan, (c. 1616 – after 1665), a Royalist during English Civil War 1642–1649, was Captain General of the Kings (Charles I) forces in South Wales.

After the King's arrest and execution, he fled to the continent, and married Anna Petronilla the daughter of Baron von Pöllnitz from Westphalia, Governor of Lippstadt.

In 1821 the Papal Bull "De salute animarum", made over to the Bishopric of Paderborn the Lippian parishes of Cappel, Lipperode and Lippstadt, which had previously belonged to the Archbishopric of Cologne without producing any ensuing agreement with the state of Lippe.

In 1851 the whole of Lippstadt, which up to then had been divided between the Kingdom of Prussia and Lippe, was added to the Prussian royal province of Westphalia.

[5] Lippstadt serves as headquarters of international automotive supplier's Hella and HBPO Group.

It is also home to a factory of large-diameter antifriction bearings, seamless-rolled rings manufacturer Rothe Erde.