The area around Petershausen has been inhabited for centuries by the Celts of the Vindelici tribe.

There are burial mounds that date as far back as 1500 BC near Petershausen (Obermarbach).

During Roman occupation, a road from Salzburg to Augsburg passed through Petershausen.

The town and church were greatly damaged during the Thirty Years War and by plague.

In 1867 the Munich - Ingolstadt railway line, on which the Petershausen station is located, was built.