Niederstaufenbach lies in the Western Palatinate between the Walbersberg and the Krämel (mountains), on both sides of the Reichenbach in a broad hollow roughly a kilometre and a half up from where the Bosenbach empties into the Reichenbach. The village sits at an elevation of roughly 240 m above sea level between the villages of Oberstaufenbach and Friedelhausen. On the dale's west side, the ground climbs up steeply to the Potzberg (hill) and to the neighbouring village of Föckelberg. Stretching east of the dale is a somewhat higher mountain ridge (Hertelwald 338 m) between the Reichenbach valley and the Walsbach and Bosenbach valleys. Rising in the south, within neighbouring Oberstaufenbach's limits, is the mountain Heidenburg, from which the village might have got its name (see Municipality's name below). The municipal area measures 201 ha, of which 31 ha is wooded and roughly 6 ha is settled.