Friedrich was a son of Count Friedrich V of Hohenzollern from his marriage to Udilhild of Dillingen. He succeeded his father around 1288 as Count of Zollern. Later that year, he divided his inheritance with his younger brother Friedrich the Younger. Friedrich VI kept the County of Zollern, while his younger brother received the Lordships of Schalksburg and Mühlheim.

In 1296 Friedrich sold some land to the Bebenhausen Abbey.

In 1281, Friedrich married Kunigunde (1265–1310), the daughter of Margrave Rudolf I of Baden, with whom he had the following children:

• Albrecht
• Kunigunde (died between 1380 and 1384), abbess of Lichtenthal Abbey
• Friedrich VII (d. 1309), Count of Zollern

married in 1298 to Countess Eufemia of Hohenberg (d. 1333)

• Friedrich VIII "Easter Sunday" (d. 1333), Count of Hohenzollern
• Sophia (died after 1300), a nun at Stetten Abbey
• Friedrich († 1361)

• House of Hohenzollern

• Ottmar F. Schönhuth: Die Burgen, Klöster, Kirchen und Kapellen Württembergs und der Preußisch-Hohenzollern'schen Landestheile mit ihren Geschichten, Sagen und Mährchen, Fischhaber, 1860, p. 292
• Graf Rudolph Stillfried-Alcántara, Traugott Maercker: Hohenzollerische Forschungen, C. Reimarus, 1847, p. 169 ff

• http://thepeerage.com/p10881.htm#i108805