Town rights were granted to Weikersheim in 1313. As the one of the seats of the House of Hohenlohe, until 1756 Weikersheim's town center was dominated by Weikersheim Castle, residence of the Hohenlohe-Weikersheim line. During the process of German mediatization from 1806 to 1809, Weikersheim was awarded to the Kingdom of Württemberg, whose government assigned the city to . In 1938, the Oberamt was reorganized as , under whose jurisdiction Weikersheim remained. From 1 January 1972 to 1 January 1975, Weikersheim incorporated eight municipalities. In that time, , and as a result Weikersheim was assigned to the newly-created Main-Tauber district. In 2000, the old town and palace were placed under protection as cultural monuments.
