Flat bands are intriguing platforms for correlated and topological physics. Various methods have been developed to create flat bands utilizing lattice geometry, but the investigation of orbital symmetry in multiorbital materials is a new area of focus. Here, we introduce a site symmetry-based approach to emerging multiorbital 2D and 3D flat bands on the kagome and pyrochlore lattices. As a conceptual advance, the one-orbital flat bands are shown to originate as mutual eigenstates of isolated molecular motifs. Further developing the mutual eigenstate method for multiple orbitals transforming differently under the site symmetries, we derive interorbital hopping generated flat bands from the antisymmetric interorbital Hamiltonian and introduce group-theoretic descriptions of the flat band wavefunctions. Realizations of multiorbital flat bands in realistic materials are shown to be possible in the Slater-Koster formalism. Our findings provide new directions for exploring flat-band electronic structures for novel correlated and topological quantum states.