The place takes its name from this, Mühlheim being equivalent to the English cognates: Mill-Home.

An old trade route from the Bodensee crossed the river here, and from the ford at Mühlheim continued into the Albvorland after Rottweil.

The timber framed Gothic city hall has been a listed historical monument since 1928.

The castle was first built around 1200 and was reconstructed in its present form in the mid 18th century.

The yellow rock offers a fantastic view on the meandering Danube valley.