9909 Eschenbach is a main belt asteroid. It orbits the Sun once every 3.60 years.
Discovered on March 26, 1971 by Cornelis Johannes van Houten and Ingrid van Houten-Groeneveld on photographic plates made by Tom Gehrels with the Samuel Oschin telescope at the Palomar Observatory, it was given the provisional designation "4355 T-1". It was later renamed "Eschenbach" after Wolfram von Eschenbach, a medieval poet.