Even as far back as prehistoric and early historical times, people knew about the strategic importance of the strait at the Main �knee� between the Odenwald and the Spessart, building mighty ringwalls on the Greinberg above Miltenberg and on the B�rgstadter Berg (mountains). About AD 155, the Romans laid down the almost dead straight �Forward Limes� on the Main. Near today�s Miltenberg, the Limes came up against the Main, which from here northwards formed the Roman Empire�s natural border with Germania. Remnants of two Roman castra can be found nearby, one between Miltenberg and B�rgstadt (Kastell Miltenberg-Ost) and the other between Miltenberg and Kleinheubach (Altstadtkastell).
Under the preotection of the castle of Mildenburg (built about 1200), the town of Miltenberg took hold. It had its first documentary mention in 1237. By about 1379, the two town towers, the Mainz Gate (Mainzer Tor) and the W�rzburg Gate (W�rzburger Tor) framed in the west and east today�s Old Town, which grew narrow and long between the river and the steep slope. Already by the Middle Ages, Miltenberg bunter was highly sought-after, with things such as grindstones and columns being hewn in the surrounding woods. Even before 1319, the Spital St. Peter (hospital) was founded by Archbishop Peter of Aspelt.
Until 1803, Miltenberg belonged to Electoral Mainz. This is yet manifested in the town�s coat of arms, which bears the Wheel of Mainz as a charge. After the Reichsdeputationshauptschluss, Miltenberg passed to the Principality of Leiningen, with which it was incorporated into the Grand Duchy of Baden in 1806. After having become part of the Grand Duchy of Hesse-Darmstadt in 1810, the town finally became part of Bavaria in 1816.
From Miltenberg come the so-called Heunens�ulen, some special sandstone columns meant for use more than a thousand years ago when Mainz Cathedral was being built. The master builder, however, decided that they were unneeded and they never became
