Agnes von Kleve-Heinsberg was born on an unknown date to Dietrich I. von Heinsberg (-1228) and Isalda de Limbourg (-) and died 1267 of unspecified causes. She married Heinrich von Sponheim (-c1258) .
Children
| Name | Birth | Death | Joined with |
| Dietrich I. von Heinsberg (-1303) | |||
| Johann I. zu Löwenberg (-aft1306) | |||
| Adelheid von Heinsberg (-c1303) | 1303 | Dietrich VII. von Kleve (aft1224-1275) | |
| Heinrich von Heinsberg (-c1315) | |||
| Agnes von Heinsberg (-aft1297) | |||
| Isabelle von Heinsberg (-aft1287) | |||
Footnotes (including sources)
| ‡ General |