The Stadtmuseum im Gelben Haus (City Museum in the Yellow House) tells the story of Esslingen am Neckar from its earliest settlements to the 20th century. The permanent collection covers the town's history as a free Imperial City, its medieval textile industry, and the religious tensions of the Reformation — all explored through artefacts, documents, and reconstructed interiors.
The building housing the museum is itself a highlight. The Gelbes Haus is a well-preserved late-medieval townhouse, with a distinctive yellow-painted facade and exposed timber-frame construction visible in the upper storeys. The museum is compact and can be covered in an hour. A changing programme of temporary exhibitions covers topics in local and regional history. Opening hours are Tuesday to Sunday; entrance is inexpensive and children under 14 enter free.