Emperor Louis the Pious donated in 815 Untermühlheim together with Obermühlheim (today called Seligenstadt), which were then in the Frankish Maingau to Einhard.

The name Mühlheim goes back to the ten mills (Mühlen in German) which in earlier times stood on the banks of the brooks Rodau and Bieber.

For a long time in the Middle Ages Mühlheim was Mother Church to the surrounding places of Bürgel, Offenbach, Bieber, Heusenstamm, Dietesheim and Lämmerspiel.

The spiritual court for the affiliated communities belonging to the Mother Church sat in this time in Mühlheim.

From the Middle Ages until 1819, Mühlheim and the once self-administering communities of Dietesheim and Lämmerspiel belonged to the Biebermark (a communally owned cadastral area), and the outlying woodlands belonged to the Wildbann Dreieich, a royal hunting forest.

In 1435, Mühlheim, as was so with many places in the area, was sold along with the Amt of Steinheim by the Lords of Eppstein to the Electorate of Mainz.

The municipal election held on 27 March 2011 yielded the following results: The town's arms might be described thus: Azure a six-spoked waterwheel argent with twelve buckets, in chief three Immertreu of the second with centres Or.

In the “SCHANZ” cultural hall, the converted former apprentice's workshop of the firm Stahl-Schanz, the Kulturfabrik EigenArt e.V.

Moreover, there are also private collections, among them Mühlheim entrepreneur Hans-Günter Zach's Rolls-Royce Museum, visits to which are on request, upon payment of a donation for social purposes.

Also widely popular and well attended in the region is the kermis (Kerb) in the outlying centre of Dietesheim, held each year on the weekend after 15 August.

In the main centre of Mühlheim, the Old Town Festival (Altstadtfest) and the Christmas Market (Weihnachtsmarkt) are very popular, too.

The two parishes of St. Maximilian Kolbe and St. Markus as well as the ones in the outlying centres belong as parts of the Deanery of Rodgau to the Diocese of Mainz.

Like many places in the Offenbach district, Mühlheim is also affected by a high traffic load and its attendant noise pollution.

Running parallel to this for the most part is the busy Frankfurt-Fulda railway line, and Mühlheim also lies right on the approach to Frankfurt Airport.

It is the Magistrat (roughly, town executive) that decides whom to honour, except for the Ehrenplakette in Silber and the status of honorary citizen.