The city of Künzelsau is located in the valley (elevation 218 m) and is surrounded by the higher-lying towns: Amrichshausen (401 m), Belsenberg (256 m) (with the parts Rodachshof and Siegelhof), Gaisbach (381 m) (with the hamlets Etzlinsweiler, Haag, Kemmeten, Oberhof, Unterhof and Weckhof and the farmstead Schnaihof), Garnberg (404 m), Kocherstetten (254 m) (with hamlet Schloß Stetten and farmsteads Bienenhof and Buchenmühle), Laßbach (with villages Mäusdorf and Vogelsberg and 3 farmsteads Falkenhof, Kügelhof and Rappoldsweiler Hof) (435 m), Morsbach (223 m), Nagelsberg (312 m), Nitzenhausen (431 m) (with hamlets Berndshausen and Sonnhofen), Ohrenbach (430 m), Steinbach (412 m) (with 3 hamlets Büttelbronn, Ohrenbach and Wolfsölden) - the data in each case in meters above sea level. Belonging to Künzelsau before the municipal reform of the 1970s were: the city Künzelsau, the villages of Garnberg and Nagelberg, and residential places Gaisbacher Rank and Hofratsmühle.