Besides the town of Kirchheim, the municipality encompasses the villages of Derndorf, Hasberg, Spöck und Tiefenried.

After the Romans the Alemanni were settling in the town and were establishing the name Kirchheim (German "Heim bei der Kirche", English "home at the church").

1343 Holy Roman Emperor Louis IV gave Kirchheim high justice.

Kirchheim was burned to the ground in July 1372 because of a dispute between its feudal lord and the city of Augsburg over custom laws on the lech river.

Kirchheim was vested with market rights 1490 by Holy Roman Emperor Frederick III which stimulated economic growth.

Knight Hans Walther von Hürnheim was awarded for his merits for Kaiser and empire 1544 with coat of arms and seal for Kirchheim by Holy Roman Emperor Charles V himself.

The castle was created after the model of the Spanish El Escorial near Madrid with integrated church.

Today the famous cedar hall, with the most beautiful carved ceiling of the renaissance north of the alps and amazing acoustics, in the castle of Kirchheim is often open and used for cultural events.

In it the prominent painting Assumption of Mary of Peter Paul Rubens is located on the southern side altar.

Inside the church is the table tomb of Hans Fugger made by Hubert Gerhard and Alexander Colyn, which is regarded to be an outstanding artwork of sculpture of the renaissance in south Germany.

The cedar hall inside the castle has the most beautiful carved ceiling of the Renaissance north of the alps and is said to have the best acoustics in Europe.

Other places of interest include the museum of local history inside the historic town hall and the statue of St. Nepomuk on the market square.