Hallstatt-culture barrows are preserved in the Hochholz woods, near the offices of SAP Deutschland. The earliest documentary mention of the settlement occurs as Waltorf in a 770 deed issued by the Abbey of Lorsch. The Electorate of the
Palatinate received Walldorf as an Imperial fief in 1230. The town suffered much during the
Thirty Years' War of 1618–1648, and in 1689 was completely destroyed in the course of the French invasion during
Nine Years' War. The area was settled anew by religious refugees, among them the predecessors of John Jacob Astor, Waldensians from
Piedmont. During the
German Mediatisation, Walldorf fell to Baden. In 1843 the
Rheintalbahn was built: this railway decisively promoted economic development. In 1901 Grand Duke
Frederick I of Baden granted Walldorf town privileges. After World War II the companies Heidelberger Druckmaschinen (founded 1850) and SAP (founded 1972; moved to Walldorf in 1977) were established in Walldorf. ==Politics==