Horkheim Castle was first mentioned in a document in 1344 as the property of Count Eberhardt II of Württemberg. Count Eberhardt divided the castle as a fief between several nobility.
In the following decades the owners of the castle changed several times. Among other things, the Teutonic Order, the Heilbronn patrician family Lemlin and the Electoral Palatinate owned the property, originally built as a moated castle. The year 1550 and two coats of arms can be found on a corner post of the ornamental framework adjoining the stone house (tower) to the east. The coats of arms come from the Volmar Lemlin family and the married woman von Rinderbach, Lemlin's wife. This is proof that the two-story residential building was built by the Lemlins that year.
From the 17th century, Jews were increasingly taken into the castle under the protection of the respective lords of the castle.
Around the middle of the 19th century, the eastern moat was backfilled, the rest of the moat fell dry and is now mainly used as a garden.
The castle courtyard can be entered and viewed, the buildings are privately owned.