The remains of the Castle can be visited
Malsburg Castle (Ruin) (Zierenberg)

The Malsburg ruin, once the ancestral seat of a noble family, stands on a wooded basalt cone in the Habichtswald Nature Park.
History+
The origins of Malsburg predate its first documented mention in 1123. As early as 1124, Volkold and Udalrich von Warthbeche, sons of Volkold I, transferred the castle along with the neighboring Schartenberg Castle as a fief to Archbishop Adalbert I of Mainz. After Udalrich's death, Mainz occupied Malsburg with its own castellans. From 1143, the resident ministerials Stephan and Dietrich adopted the name "von der Malsburg" after the castle. In 1213, Malsburg was a Mainz fief of a branch of the Groppe von Gudenberg family.
Source: Wikipedia · Licence: CC BY-SA 4.0
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: 51.4106, 9.2597