Altenstadt an der Waldnaab is a municipality in the district of Neustadt an der Waldnaab in Bavaria, Germany. It is situated on the river Waldnaab, 2 km southeast of Neustadt an der Waldnaab, and 5 km north of Weiden in der Oberpfalz. Bundesautobahn 93 passes west of Altenstadt. It has a railway station on the Weiden–Oberkotzau railway.