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Überlingen is situated on the northern shore of the Bodensee (Lake Constance). Überlingen was already mentioned in a document of AD 770. The medieval town was founded in 1180 and received the status of a town in 1211. At the end of the 14th century it obtained the status of an independent Imperial City which it retained until 1802. Wine-growing was the basis of Überlingen's wealth especially between the 13th and 16th century. Up until the mid 19th century it also was the place of southern Germany's largest corn market. The mineral springs initiated the upswing as a spa town beginning in the 19th century. The industrial development started with the opening of the railway line to Überlingen in 1895.

The minster church Sankt Nikolaus [centre] was built in 1350–1362. It is the largest Late Gothic church of the Bodensee region. The splendid high altar was created by Jörg Zürn from Überlingen in 1613–1616.