Niederstetten (German: [niː.dɐˈʃtɛ.tn̩] ⓘ) is a town and a municipality in the Main-Tauber district, in Baden-Württemberg, Germany.

The main attraction is Haltenbergstetten Castle, first built around 1200 by the House of Hohenlohe.

The lands of Haltenbergstetten probably originally belonged to Pfitzingen Castle, which was located in a neighboring village.

Through feudal changes of ownership in the Middle Ages and later through inheritance, the castle was later owned by the Counts of Castell, the Counts of Limpurg, the Lords of Rosenberg, the Counts of Hatzfeld (1641–1794), the Bishopric of Würzburg and, from 1803, by the Princes of Hohenlohe-Jagstberg who still own and inhabit it today.

The Albert-Sammt-Zeppelin-Museum is in memory of last German airship captain Albert Sammt and shows original parts as well as documents of Zeppelin history.