The first documented mentioning of Lauterbach – although disputed – is in 1101 AD. The small village was part of the territory of Schramberg (Herrschaft Schramberg), which was sold to Habsburg in 1583. So for 222 years Lauterbach was Austrian. In 1805, as a result of Napoleon's defeat of the Austrian Emperor the area was passed on to the new Kingdom of Württemberg. Its district capital was Oberndorf am Neckar. In 1938 Schramberg and Lauterbach were incorporated into the Rottweil district, which changed from the Administrative Region of Tübingen to Freiburg in 1973.