Steinsberg Castle was first mentioned in the year 1109. In the thirteenth century the owners of the castle were the Counts of Oettingen. Later the castle became home to the Counts palatine of the Rhein. In 1517 the castle was purchased by the Lords of Venningen. Shortly after this purchase the castle was burnt down during the Peasants' revolt. The rebellious peasants had to pay 5000 Gulden for the rebuilding of the castle. After heavy damage in 1777 by a strike of lightning the castle was left in disrepair. Since 1973 the castle has been owned by the Sinsheim council, who had large parts of the castle restored. The keep, the moat and the towers may still be viewed today.
References:Sigmaringen Castle was first mentioned in the year 1077 in the chronicles of Petershausen monastery. The oldest parts of the castle are concealed beneath the alterations made during the 17th and the 19th centuries. The secret of the earliest settlement built on this defendable rock will never be fully revealed: large-scale excavation work would be necessary, which the extensive land development renders impossible. Judging from the many Roman remains unearthed in the area around Sigmaringen, the 12th century keep known as the 'Roman Tower' could be traced back to a Roman predecessor.
The castle remains that have been preserved (gate, great hall and keep) date back to the Staufer period around 1200. The castle remains were integrated into subsequent buildings. The foundations of the castle buildings are to a large extent identical to the surrounding castle wall.
These remains give us a good idea of how the castle might have looked during the 12th century.