The Frauenkirche stands directly opposite the Stadtkirche St Dionys on Esslingen's Marktplatz, and the two churches facing each other across the square are the most striking architectural feature of the town centre. The Frauenkirche is a Catholic parish church, built between 1321 and the early 15th century in the Gothic style, though never fully completed.
The interior contains several important Gothic sculptures and reliefs, including a 14th-century Pietà and decorative stone carving of high quality. While the Stadtkirche was taken over by Lutherans during the Reformation, the Frauenkirche continued as a Catholic church — an arrangement that has persisted to the present day, making the Marktplatz one of very few squares in Germany where a Lutheran and a Catholic church stand side by side.