Aulendorf (pronounced [ˈaʊləndɔʁf] ) is a town in the district of Ravensburg, in Baden-Württemberg, Germany. It is situated 20 kilometres (12 miles) southwest of Biberach an der Riß, and 19 kilometres (12 miles) north of Ravensburg.

Aulendorf exists of the town itself along with the incorporated villages Tannhausen, Bloenried and Zollenreute.

Aulendorf is well known in Upper Swabia for its catholic all-day high school "Studienkolleg St. Johann" founded by the Styler Missionaries. It was once the capital of the historic German statelet of Königsegg.

Aulendorf is a local train hub for three lines:

• Herbertingen–Aulendorf railway
• Allgäu railway
• Southern railway

Aulendorf is located on the Upper Swabian Baroque Route and the Schwäbische Bäderstrasse.

• The adventure parcours Medialer Erlebnisparcours tells the history about the castle Schloss Aulendorf
• The museum Bürgermuseum presents the history of the town

• The Catholic Church St. Martin contains exhibition pieces from all epochs from Gothic art to Classicism
• The castle Schloss Aulendorf united five epochs

• Hermann von Vicari (1773–1868), 1843–1868 archbishop of Freiburg
• Erwin Glonnegger (1925–2016), author and game designer, winner of the Order of Merit
• Gerhard Hennige (born 1940), sprinter, Olympic silver medalist 1968 Mexico

Aulendorf is twinned with:

• Conches-en-Ouche, France