Even at the time of the Alemannic settlement of Plochingen, the area of today's Kirchberg was used as a place of worship and burial. The construction of Plochingen's first church as part of the Christianization process is therefore typical of this time and region, in which the missionaries built the new sacred buildings on the hills where religious sites had already been located. This may have made it easier for the population to adapt and at the same time represented the triumph of Christianity over pagan ideas. The first Christian place of worship in Plochingen was probably built around 620 by Frankish missionaries, perhaps by monks from the Lorsch monastery. It was a wooden building dedicated to St. Michael within the churchyard. This church, along with the manor house next to it, was burned down in connection with the dispute between King Henry IV and Rudolf of Swabia in 1078. Under the local lord Ulrich von Stubersheim-Ravenstein, a new, stone, Romanesque church was built around 1100, which was dedicated to the knight's patron saint, St. Ulrich of Augsburg. Some objects still bear witness to this building today (see surroundings, furnishings). During excavations for the heating system under the sacristy in 1933, some foundations were discovered, one of which comes from the Ulrich Church. This fell victim to the flames of a war in 1449/50, before the current church followed around 30 years later.
Located on a hill above the Neckar and built in 1481, it is already the third church to be built on this site.