There was a Saxon church on this site from before the Conquest, and the church is mentioned in the Domesday book of 1086. The replacement of the Saxon church began early in the 13th century, starting at the east end, and the upper stages of the tower completed by the late 14th century.

The church consists of north and south aisles with north and south transepts, nave, chancel,vestry, and the western tower. The tower is of three stages the lowest is from the late 12th century. It is possible that further building was envisaged such as a spire. The tower is heavily buttressed, there being seven buttresses, the western buttresses has an archway with the original 13th century doorway at the bottom. There are eight bells.

Over time, the church was enlarged and a north Chapel was added by Simon de Stocket, owner of Brasted Place, during the reign of Edward I. The Chapel contains a Memorial to Sir Robert Heath who died in 1649.

In the 19th C. the church had fallen into a state of disrepair, and in 1865 architect Alfred Waterhouse was engaged to rebuild the church. It was considerably enlarged, the walls being entirely rebuilt.

In 1944 the church was severely damaged by a flying bomb. The chancel walls were cracked, most of the tiles blew off the roof and all the glass in the windows was destroyed. There was also a succession of subsidences which followed, and it was about 10 years before all the damage was repaired.

In 1989 there was a severe fire in the church which started in the south east corner and totally gutted that area of the church, destroying the organ, chancel furnishings and several windows as well as most of the roof. The Stocket Chapel was less severely affected. The church was rebuilt in 1991 and the opportunity was taken to make some improvements in the layout. Some fabric from the old church was reused. A clerestory with circular windows was added, bringing more light to the interior. A kitchen and cloakroom were added and the pews were rearranged.