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The first recorded mention of Unlingen occurred in 1163. In 1291 Unlingen fell to the House ofHabsburg, and eventually became a part ofFurther Austria. At the end of the 14th century, the Steward ofWaldburg held large portions of the town. In 1525, 2,000 farmers gathered in Unlingen as it became one of the starting points of theGerman Peasants' War. During theThirty Years' War, Unlingen was destroyed by both Imperial and Swedish troops. In 1635, plague killed a large part of the population.
In 1806, during theNapoleonic Wars, Unlingen became a part of theKingdom of Württemberg and was assigned to the jurisdiction ofRiedlingen. With the district reform of 1938, the town became part of the county ofSaulgau, then in 1973 was added to the district ofBiberach.