Waldburg-Zeil was a County ruled by the House of Waldburg, located in southeastern Baden-Württemberg, Germany, located around Schloss Zeil, near Leutkirch im Allgäu.
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 und Taxis in 1785), and Steward Froben and Steward Henry of Waldburg-Wolfegg partitioned Waldburg-Waldburg after the death of Steward Gebhard.