Staufenberg () is a village in Baden-Württemberg, Germany. It is administratively part of the town of Gernsbach in the Rastatt district.
The village is located directly west of Gernsbach on a small tributary of the Murg River.
The first documented mention of Staufenberg is as 'vinea Stoufenberg' in the year 1274. On January 1, 1971, Staufenberg was incorporated into the town of Gernsbach.