Waldburg-Zeil was a County located in southeastern Baden-Württemberg, Germany, located around Zeil. Waldburg-Zeil was a partition of Waldburg-Wolfegg-Zeil. Originally ruled by Truchesses (Stewards), Waldburg-Zeil was elevated to a County in 1628, and a Principality in 1803 shortly before being mediatised to Württemberg in 1806.

In 1674, Waldburg-Zeil was partitioned between itself and Waldburg-Wurzach. Count Francis Anthony inherited Waldburg-Trauchburg in 1772 (the districts of Friedburg and Scheer were later sold to Thurn and Taxis in 1785), and Steward Froben and Steward Henry of Waldburg-Wolfegg partitioned Waldburg-Waldburg after the death of Steward Gebhard.

Stewards of Waldburg-Zeil (1589–1628)

• Froben (1589–1614)
• John James I (1614–1628)

Counts of Waldburg-Zeil (1628–1803)

• John James I (1628–1674)
• Paris James (1674–1684)
• John Christopher (1684–1717)
• John James II (1717–1750)
• Francis Anthony (1750–1790)
• Maximilian Wunibald (1790–1803)

Princes of Waldburg-Zeil (1803–1806)

• Maximilian Wunibald (1803–1806)