Kirchheim unter Teck is a town located in the state of Baden-Württemberg, Germany. It is situated within the district of Esslingen and lies on the small river Lauter, which serves as a tributary of the Neckar.
The town is positioned approximately 35 kilometres southeast of Stuttgart and is located about 10 km from the Teck castle. As the fourth city in the Esslingen district, it functions as a district centre for the surrounding communities.