The oldest signs of human settlement in Kirchberg dates back to prehistoric times, to the early Bronze Age(1100 - 900 BC). The first people to live around the area were Illyrers. From the middle of the 6th century the region was ruled over by Bavaria.

In 902 the royal court gave the administration of "Prichenstal" with "Sperten or Kirchberg" to the Bishops of Regensburg. In 1241 the "Sperten" village was first called "Chirchberg" and the first mention of 'parishioners in Sperrten' dates back to 1333. In 1377 Bishop Konrad of Regensburg pledges the Brixental along with Kirchberg to Bishop Friedrich of Chiemsee. Then in 1380, at a cost of 18,000 Hungarian gulden and with a buy-back clause, he sold the area, making a complete sale for a further 8,000 gulden to the Archbishop of Salzburg in 1385. The unification of the Brixental was completed in 1816, and Kirchberg became part of the Tyrol.

The 'church on the hill' which gives the village its name, should according to legend, originally have been built in the centre of the town. Before the roof had been completed, doves caried away the wooden roofing tiles and left them on the hill. The locals believed this to be a sign from God and so had the church rebuilt on the site it stands to this day. A romanesque style House of God was first built in Kirchberg in the 13th century and in the 15th century a gothic style church replaced the original structure. The church was renovated in the 18th century and the interior completely redesigned in a baroque style. Then in 1977 to 1980 the Kirchberg church was once again renovated and enlarged according to the designs of the world famous architect, Prof. Clemens Holzmeister. A large picture of the Madonna is to be seen on the outside wall of the church tower, painted by church artist Michael Lackner, also from Kirchberg.