Burg Vellinghausen, Medieval castle in Welver, Germany.

Burg Vellinghausen is a moated castle in the Vellinghausen district of Welver, built around 1300 by Rötger von Galen. Its east facade and hipped roof were later adapted to the Baroque style, and the entrance portal bears the double coat of arms of the builder couple. A Renaissance fireplace on the ground floor marks the completion around 1598.

Rötger von Galen, who also called himself Vellinchusen, built the Niederungsburg around 1300, probably on the site of an earlier castle. After the brothers Heinrich and Dieter von Galen divided their inheritance in 1564 and 1566, the castle passed to Heinrich von Galen and his wife Clara von Vridag, who probably completed it in 1598; a Renaissance fireplace on the ground floor marks this. In 1700 General Heinrich von Neheim sold the estate to Kaspar Heinrich von Voss, under whom the east facade and the Krüppelwalmdach were adapted to the Baroque style.

The castle sits within an estate that noble families have occupied for centuries, reflecting their way of life and status in the region. The buildings and grounds show how the landed gentry lived and displayed their position in society.

The castle is about 6 km from Welver's town center and is easiest to reach by car, as it sits on private estate grounds. The area is flat and works well for cycling visits, especially along the regional route network that passes through the countryside.

The castle stands near the site of the Battle of Vellinghausen, fought on 15 and 16 July 1761 during the Seven Years' War. The engagement pitted Allied troops under Ferdinand of Brunswick against a French army, and the nearby ground still carries the name of that clash.