Pfronstetten is located in the Swabian Alb, about 25 km south of Reutlingen.

The following towns and municipalities border on the municipality of Pfronstetten, they are named clockwise starting in the north and belong to the district of Reutlingen or the districts of Biberach¹ and Sigmaringen.

Only the villages of the same name belong to the municipal districts of Aichelau, Aichstetten, Geisingen, Huldstetten and Pfronstetten.

Niklausenweiler was built as a brickworks at the end of the 18th century, but did not exist for long; the village was named after Abbot Nikolaus von Zwiefalten.

The deserted villages of Hendelheim or Hendenheim - the village was mentioned in 1352 as Hendenhain, the place name is still preserved as a field name -, Schäfbuch - the village was mentioned in the 11th and 12th centuries as Schefbuoch and Scepbouch - and Wolfriedeshalden, which was mentioned in the 11th century as Wolfridushaldun, are located in the district of Pfronstetten.