What was Winnenden's former name? In 1525, it was called Bürg, and in 1624, Altwinnenden. Altwinnenden Castle was the seat of the Lords of Winnenden before it became part of Württemberg. Initially, the town, along with the settlements of Schulerhof and Stöckenhof, belonged to the municipality of Baach. In 1686, the town was called Bürck bey Bach.
The castle church was built as a church of the Teutonic Order in the 14th century after several previous churches on the same site. The high altar is a reminder of the church's importance as a stop on the medieval Way of St. James to Santiago de Compostela. Today the castle church is once again located on the newly developed Way of St. James from Rothenburg ob der Tauber to Rottenburg am Neckar.