|Previous: Battle of Komaki-Nagakute|
|Concurrent: Subjugation of Shikoku|
|Next: Battle of Iwaya Castle|
|Battle of Ueda Castle|
|Conflict: Campaigns of Ieyasu Tokugawa|
|Place: Ueda Castle, Shinano|
|Outcome: Sanada victory|
The Sanada clan called out for ronin and volunteers to join their army in the struggle against the Tokugawa, to which Keiji Maeda, Masamune Date, and Magoichi Saika replied, in addition to reinforcements from the Uesugi clan led by Kanetsugu Naoe. The Tokugawa fielded a larger army, including generals Tadakatsu Honda, Ujiyasu Hojo, Tadatsugu Sakai, Naomasa Ii, and Yasumasa Sakakibara.
The first step in the battle was for the Sanada to drive off Tadayo Okubo's siege force, including Mototada Torii, Yasushige Matsudaira, Chikayoshi Hiraiwaand others. The Sanada fired their arrows in an ambush against the Tokugawa forces, who were harried by this. When the Tokugawa ordered the front line units withdraw from the castle surrounds, Masayuki Sanada set fire to the area to stop them, and Yoritsuna Yazawa appeared to assist the Sanada. Also, Shigenori Suzuki arrived as backup after Yukimura Sanada took down Katsushige Itakura. The Sanada cleared the southern district of Tokugawa troops, led by Tadachika Okubo, but Ieyasu gained reinforcements from Ujiyasu Hojo, who wanted to help his old friend.
The Sanada moved south, taking down Ujiyasu's isolated reinforcements, before also routing Masanobu Honda and Tadakatsu Honda. The Tokugawa, who lost most of their men, were eventually forced to withdraw. After the battle, Ieyasu agreed to marry Lady Ina, daughter of Tadakatsu, to Nobuyuki Sanada, as a peace treaty.