Burg Dellingen, Waldhausen-Bräunlingen, Schwarzwald-Baarkreis, Medieval castle ruin in Waldhausen-Bräunlingen, Germany.

Burg Dellingen is the ruin of a hilltop castle at 775 m above sea level near Waldhausen, a district of Bräunlingen. The surviving residential tower has walls about 1.8 m thick and four to five metres high, forming a roughly ten-by-ten-metre square with 42 square metres of interior space. A ground-level entrance opens in the north wall, and a slit breaks the south wall at mid-height; the former moat and outer rampart are still visible.

Burg Dellingen was probably built between the late 11th and early 12th century, making it one of the oldest castle sites in the Baar; recent surface finds support this dating. Its builders were likely the lower nobility of Waldhausen or Dellingen. From the 14th century the site was already called a "Burgstall". In 1483 the Counts of Lupfen held it as a fief, around 1512 it belonged to Georg Stähelin von Stockburg, and in 1550 it was sold to Count Friedrich II of Fürstenberg. Whether it was abandoned or destroyed in the Peasants' War is unresolved.

The name Dellingen refers to the small local nobility of Waldhausen or Dellingen, who probably built the castle in the late 11th or early 12th century. From the 14th century the site was already called a "Burgstall", meaning an abandoned castle. In 1483 the Counts of Lupfen held it as a fief, around 1512 it belonged to Georg Stähelin von Stockburg, and in 1550 it was sold to Count Friedrich II of Fürstenberg.

Access to the ruin is possible on foot, with the climb partly following forest trails through hilly ground. The best time to visit is during warmer months, when the paths are easier to walk and views of the surrounding area remain clear.

The residential tower's remains feature an unusual ground-level entrance in the north wall, departing from typical medieval entry placements. Additionally, an arrow slit positioned mid-way along the south wall is a detail rarely seen in similar fortified structures from this era.