The origins of the Minneburg cannot be clearly documented, but it can be assumed that it was founded in the late Staufer period. Its first mention is only documented for the year 1338 in the possession of the family Rüdt von Collenberg. Only eleven years later the castle was sold to Count Palatine Ruprecht I., who in turn pledged it to various lesser nobles. At the beginning of the 16th century, the Minneburg came as a hereditary fief to the Heidelberg bailiff Wilhelm von Habern. On his behalf, the castle was extended and expanded as a fortification by the master builder Hans Stainmiller. After the von Haberns died out, the Minneburg became a Palatine cellar in 1566. During a siege in 1622 by Bavarian troops, the castle was soon abandoned after being fired upon by cannons. Therefore, in 1656 the partial demolition of the castle took place.
Of the original core castle of the Staufer period, the lower part of the keep and the residential building opposite, which was later converted into a kitchen building, are still preserved today.
In the course of the expansion at the beginning of the 16th century, the imposing palace, which characterizes the Minneburg, was integrated into the ring wall of the main castle. The three-story building is roofless today, but still largely intact and accessible via the stair tower in the castle courtyard. The east gable of the palace and the mighty south facade tower above all other structures of the castle and are considered its trademark.