The village was first mentioned in 1386.
During the political upheaval caused by Matthias Corvinus the land around Pszczyna was overtaken by Casimir II, Duke of Cieszyn, who sold it in 1517 to the Hungarian magnates of the Thurzó family, forming the Pless state country. In the accompanying sales document issued on 21 February 1517 the village was mentioned as Tielmicze.
In the War of the Austrian Succession most of Silesia was conquered by the Kingdom of Prussia, including the village. After World War I in the Upper Silesia plebiscite 423 out of 448 voters in Cielmice voted in favour of joining Poland, against 24 opting for staying in Germany. The village became a part of autonomous Silesian Voivodeship in Second Polish Republic. It was then annexed by Nazi Germany at the beginning of World War II. After the war it was restored to Poland.
- Musioł, Ludwik (1930). "Dokument sprzedaży księstwa pszczyńskiego z dn. 21. lutego 1517 R." Roczniki Towarzystwa Przyjaciół Nauk na Śląsku. Katowice: nakł. Towarzystwa ; Drukiem K. Miarki. R. 2: 235–237. Retrieved 12 September 2014.
- "Results of the Upper Silesia plebiscite in Pless/Pszczyna County" (in German). Retrieved 2015-05-03.
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