The town of Halsheim was first mentioned in a document from the Fulda monastery in 770 as "Haholtesheim im Werangewe". During the time of the Crusades in the 12th and 13th centuries, a series of purchase and exchange documents report on a local knightly family "von Halsheim", fief holders of the Counts of Wildberg, who were related to the Hennebergers. Little by little, the Lords of Halsheim sold all their property in the village. The last offspring of the impoverished family, Herold von Halsheim, was last mentioned in 1317 as a prince-bishop's vassal and castle guard of Thüngen.
In 1974, the previously independent community of Halsheim was incorporated into the town of Arnstein as part of the municipal reform.
One of the sights in Halsheim is the parish church of St. Sebastian, built in 1811. The Roman Catholic branch church of St. Sebastian is the village church of Halsheim
Source: Wikipedia