The industrial town of Esslingen lies in the middle Neckar valley, a short distance upstream from Stuttgart. It preserves a number of important historic buildings dating from the time when it was a free imperial city.
To the north of St Paul's in Esslingen, beyond the ring of streets marking the line of the old fortifications (footbridge), can be found the High Gothic Frauenkirche (1321-1516), with a magnificent tower designed by Ulrich von Ensingen, architect of Ulm Minster. The tower contains a museum.
Opposite the New Town Hall in Esslingen is the Old Town Hall, a half-timbered building of 1430 by H. Schickhart, rebuilt in 1586-89 with a Renaissance facade (clock with mechanical figures, carillon). The Municipal Museum at present housed here is being moved to the Gelbes Haus in the Hafenmarkt.
To the north of the Town Halls in Esslingen the Burgberg (Castle Hill) rises above the old town, with a covered flight of steps and the Burgsteige leading up to the top. The Burg dates from the time of the Hohenstaufens. From the Dicker Turm (Stout Tower; restaurant) and the remains of the old town walls (wall-walk) there are fine views.
On the west side of the Marktplatz in Esslingen is the Early Gothic St Paul's Minster (built by Dominicans 1233-68; R.C.), one of the oldest surviving churches of a mendicant order in Germany.