Sülzdorf was already settled in the Roman imperial period. Due to its almost unaltered layout as a street village, Sülzdorf was placed under ensemble protection in 1994. The village was named as a settlement in connection with the Milz monastery as early as 784. From 1510, Sülzdorf was largely deserted, was completely destroyed during the Thirty Years' War and was not rebuilt as a street village until 1715, not far from its old location.