Weilheim an der Teck is a town in the district of Esslingen in Baden-Württemberg in southern Germany.

Finds from prehistoric and ancient times indicate a very early settlement of Weilheim space.

The oldest written mention of the place can be found on 1 October 769 in a deed of Lorsch Abbey.

In 1319 count Ulrich of Aichelberg rose Weilheim to a city, which was fortified and rapidly gained importance because of the market law.

1432 in turn sold Peter von Liebenstein and his son-in-law Kaspar Schlats the pledge shank to Hans of Wernau.

1489 the Peterskirche (Peter church) was built with its great variety of equipment in late Gothic style.

From the Reformation, the town was the location of a Protestant church and was assigned to the administrative of Oberamt of Kirchheim [de] until its abolition.

The coat of arms from 1952 shows in blue a golden oblique right beams, covered with a natural cherry twig.

The road L 1200 comes from Neidlingen in the southeast and continues to Kirchheim unter Teck in the northwest.