Waldenburg is a hilltop town in south central Germany, eastwards of Heilbronn in the Hohenlohe (district) of Baden-Württemberg.

Records first mention Waldenburg in the year 1253, but the town was destroyed in April 1945, at the end of World War II, and it has been rebuilt since.

The Confederation of the Rhine of 1806 annexed Waldenburg into the Kingdom of Württemberg under the process of "mediatisation", and the town has been part of the state of Baden-Württemberg, within the Federal Republic of Germany, since 1952.

In April 1945, at the end of World War II, the town was occupied for a last-ditch stand by the Wehrmacht against the advancing Third United States Army, and was almost completely destroyed by American artillery.

In the industrial field, the following companies are based or have a production site: The City Council of Waldenburg is a museum with Urweltfunden.

Near the settlement site Goldbach are the nature reserves of Rößlesmahdsee, with Pfaffenklinge and the Eastern Goldbachsee lake.