The modern nations and civilized world have been blessed by the advancement of higher education in all aspects of scientific development, professional advancement, public service technology and rapid mass communication media based upon a strong and broad liberal arts education related to the promotion of human well-being. This paper will present the origin of university and a brief history of university development in European countries, England and the Colonial America. The social missions of higher education will be discussed based upon the purposes and functions of medieval universities in 12th century in the training of clerical leaders, priests and licensed teachers to educate church followers about the knowledge of Bible, logics, moral laws, Cannon laws and medicine. The early missions of university education were evolved gradually to focus upon the understanding of God’s Will and the essence of “Kingdom of Heaven” and to create the ideal model of society in order to implement in the real world. Later in the 17th century, the Utilitarianism-oriented Concept of American university education is also discussed. The large stage university systems have been introduced to demonstrate the modern social missions of higher education in the arena of teaching, research, community services, and continuing education for professional development and life-long education for all citizens.