The community was first mentioned in 1344 and the first owners of the domain were the Berka of Dubá. The first church was built in 1365 as a wooden building, which at that time still belonged to the deanery of Bautzen and the diocese of Meißen, and later came to the diocese of Litoměřice. By 1561 at the latest there was a Protestant preacher in Hainspach.
The Hainspach estate was owned by Johann von Schleinitz in 1569 and then passed to the Lords of Slawata. After the male line of this noble family died out, the Salm-Reifferscheidt family came into possession of the estate through marriage in 1693.[6][7] Re-Catholicization began on the estate in 1627. In 1680 the capture of the castle failed due to a peasant revolt.
In 1721, Franz Wilhelm Altgraf zu Salm-Reifferscheidt (1672–1734) founded a hospital for his late wife Maria Agnes, Countess Countess of Salm-Reifferscheidt, née Countess Slawata. Leopold Anton Altgraf von Salm-Reifferscheidt (1699–1769) had the castle, which is now only a ruin, built in 1737–1739. The old castle was converted into apartments for the state's officials and the brewery.[8] Around 1785, Franz Wenzel Imperial Count of Salm-Reifferscheidt-Hainspach (1747–1802) was the owner of the estate.[6]
In 1750 Hainspach was made a market town. A school is documented for 1792. In 1797, much of the community was destroyed by fire. When the Prussian general Friedrich Herwarth von Bittenfeld quartered himself in Hainspach Castle on June 22, 1866 during the Prussian invasion of northern Bohemia, it was in the possession of Franz Joseph Reichsgraf von Salm-Reifferscheidt-Hainspach (1819–1887).[9] After 1889, the Hainspach estate passed by inheritance to Oswald Graf von Thun and Hohenstein; the castle served as the family's summer residence until 1924.