;777 : First mention of Ezelinga in the last will of Abbot Fulrad from Saint-Denis (near Paris, France), the chaplain of Pippin and Charlemagne. He bequeths the church sixth cell upon the river Neckar to his monastery Saint-Denis. He also brought the bones of Saint Vitalis to Esslingen, which made it a target for pilgrimage and led to its growth.
;around 800 : Esslingen receives the market rights
;866 : The market rights are certified
;949-953 : Esslingen appears in the possession of Herzog Liutolfs von Schwaben
;1229 : Esslingen receives the city rights
;1298 : Esslingen was first mentioned as a imperial cityHistory