The area in which the village of Baltringen is now situated, was settled by Alemans in the 3rd century CE, being part of the Agri Decumates. It is located on an important road, connecting Ulm with Lake Constance. This road was partly restored in the early 7th century and new settlements were founded in order to safeguard travelling. The road lead from Meersburg via Ravensburg to
Birkendorf, continuing via Baltringen in the direction of Laupheim and then on towards Ulm. This road would have crossed the river Dürnach on the southern entrance of the village by using the existing sandstone bridge.
The first appearance of Baltringen in written sources dates from 1274, when two brothers, Ulrich and Berthold of Baltringen, are mentioned. It is, however, impossible to ascertain a to whether these brothers were of the nobility or not. There is evidence of high court activity in Baltringen; on old maps a place called Galgenberg (gallow's hill) can be found on the road towards Äpfingen.
In 1370, a subsidiary church of the parish church in Laupheim is mentioned as being in Baltringen. During the 14th century, the Herren von Freyberg of Achstetten were the rulers of Baltringen, also owing the right to inflict low justice. During the 15th century, Baltringen changed hands frequently. A great number of owners were burghers of Ulm and Biberach. Little by little the Spital (a hospital foundation) in Biberach bought more and more of Baltringen, so that in 1473 almost all of the village was in its possession.
During the German Peasants' War 1524-1525, Baltringen was a centre of the rebellion. The regional peasants' army was named after the village, Baltringer Haufen. The revolt failed when troops of the Swabian League beat the Baltringer Haufen in a battle fought on nearby Baltringer Ried (Baltringen Bog). Only in the first half of the 19th century, the last remnants of servitude were abolished.
In 1636, during the Thirty Years' War, the population of Baltringen was almost completely wiped out by bubonic plague.
In the course of the mediatisation in 1803, the main part of the village came into the possession of the Counts of Plettenberg und Bassenheim. In 1806, Baltringen became part of the Kingdom of Württemberg.
Until 1938, Baltringen was part of the district of Laupheim; since then it has been part of the district of Biberach.
