Kirchheim unter Teck is a town in Baden-Württemberg, Germany, in the district of Esslingen. It is located on the small river Lauter, a tributary of the Neckar. It is 10 km near the Teck castle, approximately 35 kilometres southeast of Stuttgart. It is the fourth city in the Esslingen district, forming a district centre for the surrounding communities.
Since 1 April 1956, Kirchheim unter Teck has the status of Große Kreisstadt. The city forms a Verwaltungsgemeinschaft with the neighbouring municipalities Dettingen and Notzingen. Kirchheim unter Teck was also, for several centuries, seat of the Oberamt Kirchheim.