The castle and the farm on the steep slope above the Grenzbach valley is probably a successor settlement to the village of Ütingen, which was only mentioned in 1379 and then abandoned. Until the late 15th century, there is evidence of a local lower nobility family "von Mönsheim" who were in the service of the Margraves of Baden, who themselves owned Untermönsheim as a fief of the Weissenburg monastery and the Diepoldsburg, named after its former owner Diepold von Bernhausen, which was destroyed during the Thirty Years' War in 1645. From the 14th century onwards, the County of Württemberg also acquired property, eventually owning most of the village, although it temporarily transferred it to Maulbronn monastery. Around 1500, Württemberg, which had since risen to the status of a duchy, was the sole local ruler and introduced the Reformation in the 16th century. Nevertheless, the Duke gave the Diepoldsburg castle to the community and in 1640 gave it as a fief to the Rüppurr family, who had been the fiefholders of Obermönsheim since 1584. Their heirs, the Phull von Rüppurr family (from 1781), retained local rights over Obermönsheim, which was part of the Wimsheim parish, until the mediatization at the beginning of the 19th century under Baden sovereignty. In 1806, the fiefdom passed from Baden to Württemberg. Mönsheim belonged to the Württemberg Amt, later Oberamt, and from 1938 to 1972 to the Leonberg district.