[7] First inhabited by Native Americans, including the Potawatomi and Sac and Fox tribes, Frankfort was used as a conduit between the Des Plaines and St. Joseph rivers.

The first pioneers came to Frankfort in the early 1830s by means of the Des Plaines River from the southwest and by wagon from the east along the Sauk Trail, a roadway that still exists today.

While the first pioneers, coming mainly from the New England colonies, were mostly of English and Scottish descent, German settlers made the village of Frankfort a reality.

They had fled harsh conditions in their homeland by coming to America and proved to be very industrious and experienced farmers as they soon bought most of the fertile farm land from the "Yankees", who were more inclined to provide services for local needs.

Establishing both ownership and pride in the area, the German settlers implemented the first system of resident concern for local lands, which has been maintained ever since.

Frankfort Township was named by Frederick Cappel after his native city, Frankfurt am Main, Germany.

Nelson D. Elwood, an officer of the rail line, and Sherman Bowen, a Joliet attorney and real estate man, jointly platted a village of around 23 acres (9.3 ha) in March 1855 and named it Frankfort after the township.

Along with the establishment of the government, among the first undertakings of the newly formed administration was the institution of land use policies.

Early plans that were recorded indicated a traditional grid pattern with residential uses surrounding the business district and railroad line and additional land provided for schools and public open spaces.

US 45 (La Grange Road) major north-south thoroughfare passes through the middle of Frankfort, and shares an intersection with Lincoln Highway.

CR 74 (Laraway Road) east-west county highway passes through the southern portion of Frankfort.

Lincoln-Way North has a state championship in Boys Gymnastics (2011) and Summer League Baseball (2011).