In 766, Wendelsheim (Wenilsheim) had its first documentary mention in the Lorsch codex (other sources refer to a donation document for Fulda Abbey from 841).

In 1398 and 1409, Wendelsheim was a Comital-Palatine fief held by Rhinegrave Johann von Dhaun zu Rheingrafenstein.

Mediaeval sources describe the Rhinegrave as the village's and municipal area's highest Vogt and rightful chief justice.

The municipal election held on 7 June 2009 yielded the following results:[4] The municipality's arms might be described thus: Tierced in mantle, Or a lion rampant gules crowned argent, gules semé of crosses pattée of the first two salmon haurient addorsed of the third, and azure diapered a fess of the third.

The lion rampant on the dexter (armsbearer's right, viewer's left) side comes from the arms once borne by the Waldgraves, and the silver fess (that is, horizontal stripe) on the sinister (armsbearer's left, viewer's right) side from those once borne by the Rhinegraves.