Domžale was attested in written sources circa 1200–1230 asDomsselsdorf (and asVnheilden dorf in 1260,Vnsselsdorf in 1302,Vnsersdorf in 1322,Dumsel in 1490, andDamschale in 1558, among other variations.) The medieval German nameUnser(s)dorf is derived from(D)unselsdorf, which was presumably borrowed from the Slovene name and from which the initialD- was lost because it was reanalyzed as a definite article. The Slovene name could be reconstructed as *Domžaľe, based on a Slavic personal name such as *Domožalъ and referring to an early inhabitant of the place. Alternatively, the Slovene name may be borrowed fromMiddle High GermanDomsell(sdorf), based in turn on a Slavic name such as*Domoslavъ. In the local dialect, the town is referred to asDumžale.[7] In the past the German name wasDomschale.[3]
Domžale became a town in 1925 and a city on 19 April 1952. In the following years, Domžale became an industrial center with strong chemical and textile industry. In 1980, the construction of modern apartments began and Domžale became known as abedroom community of Ljubljana. After Slovenia declared independence, on 27 June 1991 the Yugoslav army attacked barricades in the town, and bombed the radio transmitter and houses.
In 2022, strong winds left several roofs exposed in the Municipality of Domžale. Firefighters had to pump water out of basements and assist with roof repairs in Domžale,Preserje pri Radomljah, andŠentpavel pri Domžalah.[8]
The church in Domžale is dedicated to theAssumption of Mary. It is surrounded by a cemetery and stands on a hill just north of the new municipal cemetery. In early 2012, the church's tower caught fire and destroyed its roof.[9]