Obergimpern, located on the Krebsbach, which springs up in its district, was first mentioned in a document dated June 19, 1355 as a farm for the "upper Guntbure" (i.e. Gunto's farm). The knight's fiefs and sovereign rights changed depending on wealth and claims to power.
The first verifiable landlords were the lords of Fürfeld, namely Raven von Fürfeld. This was followed for a short time by the Lords of Strahlenberg. In 1368 Siegfried von Strahlenberg sold the castle and village to Count Palatine Ruprecht I, who enfeoffed the Lords of Helmstatt with three quarters of the village. A quarter was initially Palatinate fiefdom of the lords of Hirschhorn, from 1632 that of Wieser.
In 1684 the town then became the property of Count von Yrsch as a reward for his services at the Palatinate court. With the dissolution of the Electoral Palatinate in 1803, Obergimpern and the neighboring manors of Wagenbach and Eulenberger Hof became part of the Principality of Leiningen and then became part of Baden in 1806.
From the middle of the 15th century, the Wagenbacher Hof belonged to the lords of Helmstatt zu Wagenbach. The later owners were the Lords of Yrsch and Degenfeld. In 1925 the Wagenbacher Hof was merged with Obergimpern.
When it was incorporated into Bad Rappenau on January 1st, 1972, Obergimpern had 1370 inhabitants.