Heinfels was founded in 1974 when the two formerly administratively independent villages of Panzendorf and Tessenberg were joined and formed Heinfels. The name was given after the imposing Castle Heinfels, built on a striking rock by the Counts of Görz. The castle is the most important sight of today's Heinfels. Panzendorf is situated below the castle at the entrance of the Villgratental. It has undergone significant changes and expansion due to new developments and the establishment of new businesses. The small and new settlement behind the castle is named Hinterheinfels. The scattered village of Heinfelsberg lies above it. North-east of Heinfelsberg one can find the small village of Tessenberg, which still has its original character, on an altitude above 1300 m.