The village was first mentioned in a document under the name "Mohlenbach" in 1398, but the remains of a Roman country house, which may date back to the 2nd or 3rd century, indicate the first settlement about a thousand years earlier.

Müllenbach belonged to the lords of Daun until 1427 and came by purchase to Kurtrier in whose sovereignty the place remained until the end of the 18th century.

Ecclesiastically, the whole Amt Daun and thus also Müllenbach belonged to the Archbishopric of Cologne.

In the 17th century the landlord rights were bought by the farmers of the village and thus the feudal relationship to the Maximin Abbey ended, the inhabitants of Müllenbach became free farmers.

The preserved municipal code from 1754 included 42 articles, and a mayor was elected annually.