Some of the earliest evidence of human habitation of the area of Dauchingen are Roman and suggest a villa rustica from between the years 88 to 138 AD.

[3] In October 1810, the now Kingdom of Württemberg ceded Dauchingen to the Grand Duchy of Baden per the Baden-Württemberg Border Treaty of 1810 [de].

[4] The coat of arms for Dauchingen displays a lion in yellow, facing to the right and holding a white plowshare in its forepaws, upon a field of red.

The present coat of arms was designed by the Karlsruhe General State Archives [de] in 1902, but it was not selected by the municipal council until after 1945.

The coat of arms received approval for official use by the Federal Ministry of the Interior, which also issued an accompanying flag, on 18 August 1961.