Heldra is on the eastern edge of Nordhessen (which is the northern part of Hesse) at the point where the Heldrabach (Heldra Brook) joins the Werra River.
To the south, on the far side of the River Wera, is the 503 meter high steep sided Heldrastein Mountain from which Heldra takes its name, and accessible for walkers thanks to a footbridge over the river.