On the dale's west side, the ground climbs up steeply to the Potzberg (hill) and to the neighbouring village of Föckelberg.

Niederstaufenbach's old village core lies on the Reichenbach's left bank on a small side brook known in old border descriptions as the Limbach, but it is not to be confused with another stream by that name near Oberstaufenbach.

In this part of the village stand Einfirsthäuser ("single-roof-ridge houses"), a kind of farmhouse found throughout the Westrich, an historic region that encompasses areas in both Germany and France.

An extensive new building zone stretches out on the brook's right bank next to the road going towards Bosenbach.

[4] The area around what is now Niederstaufenbach was already settled in prehistoric times, for around the plateau of the Heidenburg ran a Celtic ringwall, although owing to quarrying, nothing of it can now be made out.

At the time of its founding, the village still lay in the Imperially immediate Reichsland of the Vosagus (the Vosges) lying in a broad area around the royal estate at Lautern (Kaiserslautern).

Since in the Niederstaufenbach area the Limbach and, upstream, the Reichenbach formed the boundary between these two Ämter, the part of the village of Niederstaufenbach on the wedge of land between the two brooks must have belonged to the Amt of Reichenbach (see the mention of "Mittelstaufenbach" under Municipality's name).

[6] In 1595, the Waldgraves and Rhinegraves gave Niederstaufenbach, together with Hachenbach, Horschbach, Elzweiler and Bosenbach, in an exchange for Kirchenbollenbach to the Duchy of Palatinate-Zweibrücken.

[7] During the time of French rule from 1801 to 1814, Niederstaufenbach belonged to the Mairie ("Mayoralty") of Bosenbach, the Canton of Wolfstein, the Arrondissement of Kaiserslautern and the Department of Mont-Tonnerre (or Donnersberg in German).

In 1816, under terms laid out by the Congress of Vienna, the Baierischer Rheinkreis ("Bavarian Rhine District") was founded, a new exclave of the Kingdom of Bavaria.

Niederstaufenbach now lay in the Landcommissariat (later Bezirksamt and then Landkreis or district) of Kusel, but still in the Canton of Wolfstein.

[8] At the time of the 1609 Oberamt of Lichtenberg ecclesiastical visitation, 11 families lived in Niederstaufenbach, made up of 22 married people, 30 children, one widower, one maid and one manservant, and thus 55 inhabitants all together.

The settling of Catholic Christians was encouraged during French King Louis XIV's wars of conquest through his Politique des Réunions.

The tinctures sable and Or (black and gold) are a reference to the village's former allegiance to the Counts of Veldenz or Palatinate-Zweibrücken, depending on the source, while the lion in gules (red) refers to another former lord, the Duchy of Palatinate-Zweibrücken or the Rhinegraves of Grumbach, again, depending on the source.

The crags and the wavy fess on the chief are canting charges for the municipality's name, Stauf being an archaic word for "crag" in German (the usual word is Fels or Felsen), and the wavy fess standing for a brook, or in German, Bach, namely the Reichenbach.

[13] The arms have been borne since 1976 when they were approved by the now defunct Rheinhessen-Pfalz Regierungsbezirk administration in Neustadt an der Weinstraße.

The Niederstaufenbacher Mühle (mill), which has been shut down, was named in 1743 and mentioned as having two overshot waterwheels, and the rental price for each wheel was two Malter of corn (wheat or rye) and oats.

Several times in records, clues crop up suggesting that both denominations had, for short terms only, hired so-called Schulmeister.