Before 1806, Zimmern unter der Burg was a possession of the County of Waldburg-Zeil, but after that date was mediatized to the Kingdom of Württemberg.

[3] The municipality (Gemeinde) of Zimmern unter der Burg is found at the southwestern edge of the Zollernalb district of Baden-Württemberg, a state of the Federal Republic of Germany.

Zimmern is physically located on the western edge of the Swabian Jura, in the Upper Schlichem valley [de].

This pattern was the arms of the County of Sulz [de], adopted by Zimmern for municipal use after World War II and approved for that function by the post-war provisional Württemberg-Hohenzollern government on 8 June 1949.

An earlier pattern, of a castle upon a hill, had been put forward on 27 November 1933 with a tincture suggested by Central State Archive Stuttgart [de], but it was rejected.