Substantial parts of Waiblingen's medieval town wall survive and have been progressively restored over the last century. The marked Stadtmauerweg follows the wall around the old core, taking in the Beinsteiner Tor gate, the Hochwachtturm, and the smaller Apothekerturm and Wehrturm towers.
The full circuit is short — about 1.5 kilometres on foot — and gives a good sense of the medieval footprint of the town. Information panels at intervals explain the dates of the different sections and the names of the original guilds and defensive companies that maintained them. Best walked in the late afternoon when the stone catches the sun.