In 1053, Heidenburg had its first documentary mention. As a result of the turmoil of the French Revolution, Heidenburg lay under French rule beginning about 1800. In 1814 it was assigned to the Kingdom of Prussia at the Congress of Vienna. Since 1947, it has been part of the then newly founded state of Rhineland-Palatinate. Since administrative reform in Rhineland-Palatinate in 1969, the municipality has belonged to the Verbandsgemeinde of Thalfang am Erbeskopf. In 1997, Heidenburg was awarded the title Child- and Family-Friendly Municipality, National Winner (Bundessieger Kinder- und Familienfreundliche Gemeinde).