<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0206</schemaVersion>

    <documentType>3</documentType>

    <periodOfReport>2020-12-21</periodOfReport>

    <noSecuritiesOwned>1</noSecuritiesOwned>

    <issuer>
        <issuerCik>0000789933</issuerCik>
        <issuerName>NACCO INDUSTRIES INC</issuerName>
        <issuerTradingSymbol>NC</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001837572</rptOwnerCik>
            <rptOwnerName>BTR 2020 GST Trust f/b/o Chloe R. Seelbach</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>NACCO INDUSTRIES, INC.</rptOwnerStreet1>
            <rptOwnerStreet2>5875 LANDERBROOK DR., SUITE 220</rptOwnerStreet2>
            <rptOwnerCity>CLEVELAND</rptOwnerCity>
            <rptOwnerState>OH</rptOwnerState>
            <rptOwnerZipCode>44124</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isOther>1</isOther>
            <otherText>Member of a Group</otherText>
        </reportingOwnerRelationship>
    </reportingOwner>

    <footnotes></footnotes>

    <ownerSignature>
        <signatureName>/s/ Matthew J. Dilluvio, attorney-in-fact</signatureName>
        <signatureDate>2020-12-29</signatureDate>
    </ownerSignature>
</ownershipDocument>
