The remains of the Castle can be visited
Esslingen Castle

The so-called "Burg" (castle) in Esslingen am Neckar is a preserved part of the medieval city fortifications, located above the former and current city center.
With its elevation to a city by Frederick II in 1219, Esslingen was probably first protected by walls. However, Rudolf von Habsburg only connected the outpost on the Schönenberg to the city fortifications with two spur walls in 1286 and 1287. A third spur wall followed in the 14th century.
From 1519 to 1531, the complex was expanded with a castle staircase, as well as a rampart and moat on the city side. In 1519, the fortification withstood the attack of Duke Ulrich of Württemberg, who, after Reutlingen, also tried to capture the imperial city of Esslingen. In 1525, the "Dicke Turm" (Fat Tower) was erected, and in 1529, the later so-called "Mélac-Häuschen" (Mélac's Little House). In 1688, an Esslingen woman is said to have sacrificed herself in this house to the French general to save her hometown; however, the attempt failed, and Mélac caused considerable destruction.
The "Dicke Turm" and the 18th-century "Hochwacht" (High Watchtower) are connected by the "Seilergang" (Ropemaker's Walk).
In 1887, the "Dicke Turm" received a spire modeled after the tower constructions in Nuremberg. For the city's anniversary in 1977, the complex was largely renovated; in 1981, the renovated "Pulverturm" (Powder Tower) was made accessible.
Preserved Buildings+
A large part of the complex is freely accessible and is used in summer as a stage for open-air cinema screenings, etc. Drinking water reservoirs are located under the lawns and playgrounds north of the actual complex.
From the north, one enters the castle complex from the outer castle square via a bridge between the "Kanonenbuckel" (Cannon Hill) on the left and the younger utility buildings with the "Burgschänke" (Castle Tavern) on the right. From the "Kanonenbuckel" on the left, one has an overview of the entire complex. Between the "Kanonenbuckel" and the "Pulverturm" is an apothecary garden with a fountain and sundial; the "Pulverturm" itself was temporarily accessible from the castle moat and through a casemate passage, as well as via a newly installed spiral staircase, but it is currently (as of 2012) closed. A wall with numerous viewpoints has been preserved between the "Pulverturm" and the "Dicke Turm".
The "Dicke Turm", used as a restaurant, and the "Hochwacht" are connected by the "Seilergang", from which one has a beautiful view of the city center; next to the "Dicke Turm" is the passage to the "Burgsteige" (Castle Staircase), which leads down between vineyards to the "Kaisheimer Pfleghof" and the Esslingen market square. The continuation of the "Seilergang" forms, with the "Burgstaffeln" (Castle Steps), the only publicly accessible spur wall. This path leads to the lower end of Obere Beutau street and thus also to the market square. The fortification wall between the "Hochwacht" and the "Mélac-Häuschen" stands above a steep slope with gardens and residential houses. Another spur wall, which is not publicly accessible, leads downwards from the "Mélac-Häuschen", which in turn stands next to the "Burgschänke".
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Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://de.wikipedia.org/wiki/Datei:Dicker_Turm_Esslingen.jpg
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 48.7453, 9.3096