Haunedorf è una frazione del comune di Petersberg nel circondario di Fulda in Assia. Si trova in Osthessen al margine della Rhön. A ovest passa l'autostrada federale 7.
Il 1° settembre 1968 i villaggi di Almendorf, Melzdorf e Stöckels si unirono per formare il comune indipendente di Haunedorf. Il 31 dicembre 1971 Haunedorf fu accorpato a Petersberg.
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