The first written mention of Stehlovice is from 1306, when the village was owned by the monastery in Milevsko. From 1431, it was a property of the Rosenberg family. In 1575, when it was owned by the royal chamber, EmperorMaximilian IIsold the Milevsko estate with Stehlovice to Kryštof of Švamberk. He annexed Stehlovice to the Orlík estate and the village remained part of it until the establishment of an independent municipality in 1848.