There is a significant ancient Roman archaeological site near the village - the remains of large city Bassianae, which in the 3rd century had the highest status of colonia.

Modern village of Donji Petrovci was mentioned first under this name in 1520, during administration of medieval Kingdom of Hungary.

Since 1526, the village is part of the Ottoman Empire and from 1527 to 1530 it belonged to vassal Serb duchy in Syrmia, ruled by Radoslav Čelnik.

From 1941 to 1944, the village was occupied by Axis troops and was attached to the Pavelić's Independent State of Croatia.

In 1944, Soviet Red Army and Yugoslav partisans expelled Axis troops from the region and village was included into Autonomous Province of Vojvodina within new socialist Yugoslavia.