In 1791 the S wall of the medieval church collapsed, bringing part of the roof down with it, and fabric surveys concluded that the entire church apart from the W tower would have to be rebuilt. The present nave and chancel thus date from 1791-94, and they are built of bricks from Milwich Heath. The nave is long and broad, and separated from the short, low square-ended chancel by a square-headed arch with rounded interior angles. It has a full-width gallery at the W end. In 1888 the interior walls were lined with pitch pine by two local carpenters, giving the church an unusual sauna-like appearance, and the interior was extensively remodelled in 1906, including the laying of a mosaic floor in the chancel. The 15thc. W tower is decorated with a row of shields and a stringcourse with gargoyles below the battlemented parapet. The William Salt Library, Stafford, has exterior views of the church by T. P. Wood of 1835-45 (SV VIII.145b) and by Buckler of 1841 (SV VII.77), both also showing the parsonage at the W end (now destroyed), but no view dating from before the collapse of the medieval nave is known. The only 12thc. feature is the arcaded font.

Before the Conquest three parts of half a hide in Milwich were held by Swein and Rafwin. In 1086 the holding had passed to Robert of Stafford. The holding also included 6 acres of meadow and a strip of woodland a league long and 3 furlongs broad. The church of Milwich was given to Stone Priory by Nicholas of Milwich, the gift confirmed by his overlord Robert of Stafford between 1138 and 1147. Stone's possession of the church was confirmed in an indenture of 1292, and the church passed to the crown at the Dissolution. In 1304 Edward I granted an annual fair and a weekly market to be held at the manor to Robert de Grendon, Hugh de Hochovere and Henry de Hextal and their heirs.