"It's a place where everybody wants to win," said Jimenez. "It's a place where Seve won his second Open and it's amazing to win here and make history.
Jimenez, nicknamed 'The Mechanic', carded 69 to finish at 12-under-par 276, while Langer shot 68 for second place.
Playing ahead of Jimenez, the German could only par the last after misjudging his approach shot to leave himself with a 50-foot putt for the tie.
Earlier, Jimenez broke clear and had a short putt at the par-five 14th to go four shots ahead.
But he missed the chance and when he bogeyed the next the margin, thanks to a Langer birdie at the same hole, was down to one stroke, which is where it remained as both players parred the final three holes.
A 21-times winner on the European Tour, Jimenez, 54, finished equal second at the U.S. Senior Open in June.
(Reporting by Andrew Both in Cary, North Carolina; editing by Clare Fallon)
