Landgraviate of Hesse-Kassel
Both armies attacked, a rare event in the Thirty Years' War, which besides Oldendorf only occurred in the Second Battle of Breitenfeld. The left wing of the Swedish forces was commanded by the general of Landgraviate of Hesse-Kassel and later imperial field marshal Peter Melander. Subsequently, field marshal Torsten Stålhandske led a Swedish brigade. The later field marshal Gottfried Huyn von Geleen participated in the battle on the imperial side.