The Beinsteiner Tor is the surviving east gate of Waiblingen's medieval town wall, dating back to around 1300. It is a square stone tower with a pyramid roof, set across the road that once led toward the village of Beinstein. Most of the town's other medieval gates were demolished in the 19th century; this one remained because it was useful as a customs and toll point.
The gate today stands at one end of the restored old town and is one of the easiest reference points for orienting yourself. The Beinsteiner Tor tower itself sometimes opens for small exhibitions and is part of the marked Stadtmauerweg (city wall walk).