Count Werner IV of Maden founded the Benedictine monastery of Breitenau near Guxhagen in 1113.
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The town's municipal area borders in the north and northeast on Edermünde, in the east on constituent communities of Felsberg which lie along the lower reaches of the river Eder.
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In the northwest, Gudensberg's community of Gleichen abuts Niedenstein; in this direction, behind the Odenberg (381 m), rise the Langenberge (a low mountain range), which belong to the Habichtswald Nature Park.
An army of 600 cavalry and additional infantry led by Count Gottfried of Leiningen (a younger relative of the cathedral dean of the same name), attacked northern Hesse from Fritzlar, an exclave of Mainz, and devastated the area around Gudensberg, Felsberg and Melsungen.
# Margaret (d. 1406, Gudensberg), married in Kulmbach 1383 Landgrave Hermann II of Hesse.
Ludger Fischer: Die schönsten Schlösser und Burgen am Niederrhein. Wartberg, Gudensberg-Gleichen 2004, ISBN 3-8313-1326-1.