Above Beilstein is Hohenbeilstein Castle, built in the 11th century but fell into ruin five centuries later. It was rebuilt in the 19th century and contains both a restaurant and a falconry today.
Halfway between castle and town is the Unteres Schloss (Lower Castle). It was built in 1907 by Robert Vollmoeller. The Unteres Schloss is the conference venue of the Evangelical-Lutheran Church in W�rttemberg since 1960.
The Church of the Magdalene was built in the Romanesque period. In 1805 its use as a church ended, and thereafter it served as a military hospital, ammunition dump, and a gym. Later it decayed. In 1850 the choir was torn down. In 1955 it was rebuilt as a youth hostel.
The town hall is a baroque timber building. After its destruction in 1693 it was rebuilt from 1703 to 1710. Even other timber buildings show the reconstruction of the town, e. g. the neighbouring Alte Schmiede (old smithy). Also a new Alte Kelter (old wine-press) was built in 1698 instead of an older one.
The Sankt-Anna-Kirche was presumably built in 1470 in place of an older church. It has been Beilstein's municipal church since 1800. It was completely redeveloped from 1988 to 1990.
Since 2004 a historical round tour invites to discover Beilstein and its environs. Within the other villages and hamlets there are further notable buildings
