Notzingen is east of the district of Esslingen, in a valley between Kirchheim unter Teck and Hochdorf.

Archaeological findings from the Neolithic period have been discovered in the territory of Notzingen, including a longsword and a burial ground of the Alamanni.

King Henry IV confiscated Notzingen from Count Luitold von Achalm due to his support for Rudolf of Rheinfelden.

Around 1270, the Alwer family from Kirchheim acquired estates in Notzingen and began calling themselves after their ancestral castle of Tumnau ("Dummenowe") from 1274 onwards.

In the 14th century, Notzingen came under the jurisdiction of Württemberg along with the town of Kirchheim unter Teck, to which it has belonged since then.