It borders on the towns of Burglauer, Bad Bocklet, Nüdlingen, Maßbach, Großbardorf, and Strahlungen.

Early Celtic settlers farmed in the area of Grosswenkheim, Maria Bildhausen and Althausen (all villages within the municipal boundaries).

Around the 1st century AD, Thuringian and soon after, Franconian settlers moved into the area and used the surrounding hills (Michelsberg) and forests for protection in times of danger.

By the 5th century AD a village existed in the area where the base of Michelsberg meets the Lauer river.

On 28 December 770, Egi and Sigihilt donated their complete estate including vineyards to the "Munirihestat" monastery of Fulda.

As a result of the growth and prosperity brought upon Münnerstadt by Count von Henneberg, Emperor Louis IV gave the community its town rights.

In the late 14th century the town inhabitants rose up to drive out both of the ruling princes but were crushed.

In 1490, the town council sponsored the construction of an altar in the Pfarrkirche (parish church) by noted artist Tilman Riemenschneider.

In the early 16th century Martin Luther's predication created an uproar by the farmers and citizens who burned down the abbey of Maria Bildhausen, but the riot was quelled by the hard reprisal by the Prince-Bishop of Würzburg.

In 1585 Prince-Bischop Julius Echter purchased a large part of the town that was not already owned by the Bishops of Würzburg.