Archeological excavations have shown that the people lived in the area in the Paleolithic times.

Other discoveries show occupation in the Bronze Age and the Hallstatt Culture period.

The town with its surroundings became one of the poorest regions in the kingdom, which lasted until the beginning of the 20th century.

[3] Until 1918, the town was a part of Austria-Hungary, a seat of the eponymous district, which was one of 94 Bezirkshauptmannschaften of Bohemia.

The western part was rebuilt to the Baroque style and today it houses the regional Milevsko Museum.

The massive bell tower and the north wall with a staircase have been preserved from the original Romanesque church.

The Old Town Hall was built in the Baroque style in the 17th century and today serves as a library, tourist information centre, gallery, and bank.