Esslingen am Neckar is a city in the Stuttgart Region of Baden-Württemberg in southern Germany, capital of the District of Esslingen as well as the largest city in the district.

It is located on the Neckar River, about 14 km southeast of Stuttgart city centre. The surrounding regions are also mostly developed around the city of Esslingen.

Through archealogical findings there is evidence of permanent settlement in what is now the city of Esslingen since the Neolithic Stone Age. Traces of human settlement found at the site of the city church date back to 1000 B.C.

In the 1st century AD the Esslingen region became a part of the Roman Empire. During this period there existed a Roman warehouse in the area of Oberesslingen. The next major Roman settlements and garrisons were Cannstatt and Köngen.

Esslingen was first mentioned in 777 as Ezelinga in the last will of Abbot Fulrad from Saint-Denis (near Paris), the chaplain of Pippin and Charlemagne. He bequeathed the church sixth cell upon the river Neckar to his monastery Saint-Denis. He also brought the bones of Saint Vitalis to Esslingen, which made it a target for pilgrimage and led to its growth.