The main traffic artery of Künzelsau is federal highway B 19, which comes from the northern town of Bad Mergentheim through the Künzelsau district of Nagelberg to the Kocher, crosses Künzelsau, climbs out of the valley leaves again and then runs via Künzelsau-south towards Schwäbisch Hall and Gaildorf. In the southern neighboring community of Kupferzell, the B 19 connects to the Autobahn A 6 to Heilbronn to the west and to Nuremberg to the east. Künzelsau is connected by state and district roads with the places in the Kocher valley and the surrounding plateaus.