The self-proclaimed "Stauferstadt" achieved the status of an Imperial City in 1268, which it held until 1803, when it was mediatised to the Electorate of Württemberg.
Mesto Gmünd je bilo prvič omenjen leta 1162 z listino, izdano v bližnji opatiji Lorch, nato pa pod vladavino Hohenstaufenskega cesarja Friderikom Barbarosso.