The once small community Herrenberg was formed out of the hamlets "Mühlhausen" and "Raistingen", who were combinated in the 13th century, when Herrenberg was founded.
Herrenberg dikur i vogël u formua nga fshatrat "Mühlhausen" dhe "Raistingen", të cilët u kombinuan në shekullin e 13-të, kur u themelua Herrenberg.