Wurmlingen is located 4 km (2.5 mi) northeastern from Rottenburg and 8 km (5 mi) southwestern from Tübingen in valley of the Neckar.

The territories of the following localities adjoin to Wurmlingen, they are called clockwise beginning in the north: Unterjesingen, Hirschau, Rottenburg (Town), Wendelsheim.

All bordering localities are in the administrative district of Tübingen.

Unterjesingen and Hirschau are suburban districts of Tübingen, Wendelsheim belongs to Rottenburg.

At an area of 7.14 km² (2.8 sq mi) this corresponds to a population density of 348 people per km², or 902 per sq mi.