Burg Baldeck, Medieval castle ruins in Bad Urach, Germany.

Burg Baldeck is a ruined rock castle on a 628 m high rock above the upper Erms Valley, 2000 meters southwest of Wittlingen, a district of Bad Urach. Only a few wall remains and steps carved into the rock survive from the complex built around 1250 by the lords of Baldeck.

The lords of Baldeck, ministeriales of the Counts of Urach, built the castle around 1250; the name derives from Middle High German baldw, meaning bold. In 1256 a siege by Count Rudolf of Tübingen, Count Ulrich of Württemberg and Count Hartmann of Grüningen was recorded in a charter. The castle probably fell to that siege and was given up in the first half of the 16th century.

Locals called the ruin "Mörderschlössle" (little murderers' castle), a nickname recorded around 1700. The name likely referred to its feared use as a robbers' hideout rather than to any documented murder. The castle's own name derives from Middle High German baldw, meaning bold.

The site lies 2,000 metres southwest of Wittlingen, a district of Bad Urach, on a 628-metre rock above the upper Erms Valley. No marked trail or facilities are documented; access is over open terrain, so sturdy footwear is advisable. The ruins themselves consist only of a few wall remains and rock-cut steps.

The name Baldeck comes from Middle High German baldw, meaning bold or daring, fitting for a castle of the lower nobility. The ruin was popularly called "Mörderschlössle" (little murderers' castle) before its demolition around 1700, when it was likely torn down so it could no longer serve as a robbers' hideout.