The coat of arms show the eagle of the coat of arms of Aachen in the topleft corner. The second quarter shows the coat of arms of the Rhine Province, however the bend also represents the river Wurm which flows through the town. The mining tools in the third quarter remember the mining history of the town, which dates back till the 12th century. The cross in the fourth quarter is the symbol of the prince-bishopric of Cologne, as the town belonged to the archdiocese of Cologne until the creation of the diocese of Aachen.
During the time of the Roman Empire, Roman soldiers were based at Würselen, on an area today known as "Mauerfeldchen" (small mural field).
The first mention of the town was as Wormsalt in 870. Between 1265-69, Duke Wilhelm IV of Jülich built the castle of Wilhelmstein. Since 1616 the town has been known as Würselen. In 1972, the neighbouring municipalities of Bardenberg and Broichweiden were incorporated into the town.