[3] A first settling of the region took place at the time of the Linear Pottery culture between 6000 and 4000 BC, as evidenced by archeological findings at the Altersberg, Ameisenberg and in the Hochstatt.

During the development of the Roth between 1999 and 2000 AD, excavations were conducted in the area, and numerous shard and pole pit findings were recorded.

In the centuries that were to follow, the affiliated daughter monastery of Holzkirchen and the counts of Wertheim shared the power over the village.

[6] After the house of the counts of Wertheim had died out in the male line with the death of Michael III, the Bishopric of Würzburg claimed ownership of the village.

[6] The right to organise markets was awarded to the village on 1 October 1770 by the prince-bishop of Würzburg and Bamberg, Adam Friedrich von Seinsheim.

[8] During the Austro-Prussian War of 1866, a battle between royal Prussian and Bavarian troops allied with the Austrian Empire took place near the village on 25 July 1866.

Apart from three roses attributed to the county of Wertheim, the coat of arms also displays a tool handle, a so-called Halm or Helbling, which can also be found in some of the earlier names of Helmstadt.

The blazon reads: "Three red six-petaled heraldic roses on a golden background, divided in one and two; between them, a horizontal blue tool handle".

Benedikt zwischen Tauber & Main, which has its seat in Helmstadt and which also includes the rectories of Böttigheim, Holzkirchen, Neubrunn, Uettingen, Remlingen, and Wüstenzell.