St Andrew's is a spacious church with a four-bay aisled and clerestoreyed nave, an aisleless chancel with N and S chapels contiguous with the nave aisles, a N vestry to the chancel, and a W tower with a broach spire with three tiers of lucarnes. The walls are of rubble with stone dressings, except that the south wall of the chancel is of red brick. The nave arcades date from the 13thc., and the clerestorey was added c.1370. At the end of the 15thc. the S aisle was rebuilt and a porch added. At this time too, both aisles were extended E to form the chapels. The chancel and chancel arch were rebuilt c.1300, but was remodelled in the 14th-15thc. The S wall was replaced in brick in the 18thc., and the vestry added in 1847. The tower dates from the early 14thc. The whole church was restored in 1881-2, and the spire in 1903. The only object to be considered is the font, and this is by no means a prepossessing sight. It was installed in 1918, having previously been used as a cattle trough in Little Stukely.

In 1066 the manor belonged to King Harold, passing to William I at the conquest, and by 1086 to William de Warenne. A priest and church are noted at this time. By 1200 it was in the hands of Geoffrey FitzPiers, earl of Essex and Chief Justice to King John, who constructed the first castle at Kimbolton and received a charter to hold a market and fair.