Rothenburg ob der Tauber is one of the cities on the Romantische Strasse (Romantic Road) that has preserved vestiges of their medieval importance into the 21st century. A series of walls and towers defended the city over the ages, the most recent still stands and surrounds most of the older part of the city. Stairwells ascend to the top of the wall at intervals, and the entire wall can be walked. In addition, the Rodertor tower at the east end of the city is opened daily to allow a climb up stairs to the vista atop it.

During the waning days of World War II, the United States Airforce bombed the city railway yards (of limited military value), which resulted in damage also to the historic old city walls. An exhibit with photos can be seen in the visitor room atop the Rodertor. After the war, the residents of the city quickly repaired the bombing damage.

While buildings within the walled city reflect its medieval history, this part of the city is in many ways a normal, modern German town with some concession to the tourist trade. In addition to many stores and hotels aimed at tourists, residences and shops also reflect the daily life of modern Germany. Most of the tourist shops cluster around the Town Hall Square and along several major thoroughfares (Herrngasse, Schmeidgasse).

Along the Tauber River below the west town walls and the castle gardens lies the original settlement of Detwang, dating from the year 960. Its St. Peter and Paul church was erected in 968 and is the only Romanesque church in the region.