Von Waldenfels said Hebrew University's decision to publish the book should be the only exception to the ban.
In an article in the newsmagazine Focus, he rejected arguments that favored lifting the ban in the name of "freedom of expression."
The book's effects both inside and outside Germany should also be considered, he added.
"Mein Kampf" is the "symbol of National Socialist ideology," he wrote.
He also wrote that it would be dangerous to promote a new edition of the work.
Von Waldenfels also asked in the newsmagazine article:
"Can you imagine what kind of an impression one would get from bookstore windows full of the Hitler books, possibly along with posters of the dictator?"