Irmingard of Henneberg was the daughter of Berthold I of Henneberg and Bertha of Putelendorf. She was born between 1134 and 1136. She was the older sister of Poppo VI von Henneberg (1140-1191), Lukardis von Henneberg (1142-1220), and Otto IV Count of Henneberg (1144-1212).
Irmingard married Conrad, Count Palatine of the Rhine on 1160. She and Conrad had the following children.
Irmingard died of unknown causes in 1197 at the age of 61-63. Her burial place is unknown.