The base of the west tower has openings that suggest that it dates from the 9th or 10thc. The upper parts of the tower are probably 12thc. and Perpendicular. The nave arcades date from the late 12thc. (south arcade) and c. 1200 (north arcade). The chancel arch probably dates from the early 13thc. New furnishings were added in 1815-6 and the church was restored in 1876.

The manor of Mildenhall was held of Glastonbury abbey by Hugolin before 1086 and by Edward, probably Edward of Salisbury, in that year. It apparently passed to Edward of Salisbury's son Walter (d. 1147) and Walter's son Patrick, first earl of Salisbury, and descended with the earldom to Margaret Longespee, for in 1275 Margaret's husband Henry de Lacy, earl of Lincoln, was lord of a knight's fee in Mildenhall in her right. There was a church at Mildenhall in the 12thc. In 1291 the rectory was valued at £ 13. 6s. 8d.

Pevsner calls this the perfect example of a village church of many periods, preserved completely.