Some quarters have been mentioned as early as 741 and 753.
The municipality in its present form has been created in 1978, combining the then separate municipalities of Dankenfeld, Fatschenbrunn, Kirchaich, Neuschleichach, Oberschleichach, Tretzendorf, Trossenfurt and Unterschleichach. The name Oberaurach is an artificial word, describing the location of the municipality at the upper ("Ober") part of the river Aurach.