During Christianization, St. Martin's Church was built in Weihenstephan as a pastoral church for the inhabitants of the lower Ampertal valley. The settlement that developed around it was simply called Kirchdorf (church village).
The oldest settlement in the municipality, Nörting, was first mentioned in 788 under Freising bishop Atto von Freising (783–811), while the neighboring village of Helfenbrunn appeared in documents for the first time in 813.[3]
In 1123, Kirchdorf was first mentioned in a document in connection with a noble family of the same name, which died out in 1423. Kirchdorf was established as a pastoral center in the lower Amper Valley byWeihenstephan. The parish was incorporated into the Premonstratensian monastery of Neustift in Freising in 1358. The monastery became the most important landowner in the municipal area and had the Kirchdorf church rebuilt between 1706 and 1708. Kirchdorf was also an important place of pilgrimage for a time.
Until the end of the 18th century, Kirchdorf was part of the Länbach administrative district of the Sichendorf office (near Zolling) in the Moosburg district court. It became an independent political municipality in Bavaria in 1818 as part of the administrative reforms.[3]
After the Second World War, the population of Kirchdorf grew rapidly due to the influx of displaced persons. On March 12, 1979, the name of the municipality was officially changed from “Kirchdorf” to “Kirchdorf an der Amper (Kirchdorf a.d. Amper).”[4]