The Castle can be visited
Museum
Waldburg Castle

Waldburg Castle, a hilltop castle in Upper Swabia, is the ancestral seat of the Waldburg noble family.
History+
The origins of Waldburg Castle date back to the 11th century when the Waldburg family received a fief from the Welfs. In the early 13th century, a reconstruction took place, during which the palas was rebuilt. The castle housed the Imperial Regalia between 1220 and 1240 under Emperor Frederick II. The castle church of St. Magnus was built in 1327 and contains the tomb of the blessed Habnit. In the mid-16th century, under Truchsess Georg IV of Waldburg, the complex was transformed into a palatial residence, before construction activity decreased in the 17th century and the castle was only sporadically inhabited.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Norbert Kaiser
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: 47.7589, 9.7119