Münsingen (Swabian: Mensenga) is a town in the district of Reutlingen, Baden-Württemberg, Germany.

The name Münsingen is probably derived from Alemannic chief called Munigis, who founded a settlement within the present-day city boundaries.

In 775, Münsingen was mentioned for the first time on a deed of gift of Lorsch Abbey.

In 1537, the Reformation reached Münsingen and the surrounding villages of Apfelstetten, Auingen, Böttingen, Buttenhausen, Dottingen, Hundersingen, Rietheim and Trailfingen.

The villages of Bichishausen, Gundelfingen and Bremelau, which are currently administered by Münsingen, used to be part of the Principality of Fürstenberg and Further Austria and due to this historical reason, the inhabitants are mainly Roman Catholic.

This became apparent when during the November 1938 pogrom, the SA squad first had to arrest the mayor of Buttenhausen, who had stubbornly resisted the desecration of the synagogue.

Additionally, in 1961 a memorial was erected in the centre of Buttenhausen with the names of 45 murdered Jewish inhabitants.

The blazon coat of arms reads: "In silver a reclining four-ended black deer rod."

With the trombone choirs in Münsingen, Auingen, Hundersingen-Buttenhausen and Dottingen, the Stadtkapelle Münsingen and the music clubs Böttingen, Magolsheim and Rietheim many clubs are active in the field of Brass Band.

There are also several church choirs, as well as the secular singer Communities "Liederkranz Münsingen" Männergesangsverein Apfelstetten, Sängerbund Buttenhausen, Liederkranz Dottingen, Liedertafel Hundersingen, men's glee club Trailfingen and the chorus of EJW district Münsingen.

Also worth seeing are the market fountain and the Martin Church, completed in 1495 by Peter of Koblenz.

The national road 230 runs through the urban area in east–west direction and connects the region to the Federal Highway 8 in Merklingen.

For the youngest inhabitants there are seven municipal, five Protestant and Roman Catholic kindergarten and two small nurseries.