The church has an early 12thc. chancel and nave, 13thc. W tower, and 14thc. aisles. The S porch and clerestorey are 15thc. and repairs to the the S aisle were also carried out at this time. There are plain round-headed windows in N and S walls of the chancel. The only carved 12thc. feature is a broken pillar piscina.

The Domesday Survey does not mention a church at Milton Ernest, but records that land was held here by Miles Crispin, Hugh de Beauchamp, Nigel de Aubigny, Walter of Flanders, Hugh de Grandmesnil's wife and the King's Reeves, Beadles and Almsmen.

VCH records that the advowson was in the hands of the de Aubigny family from an early date. (VCH,148). Cecelia de Aubigny granted the church to Beaulieu Priory, which had been founded by her son, Robert de Aubigny c.1140-46. In 1275 the church was given to Beaulieu by the Bishop of Gravesend.

VCH notes that the axis of the chancel is set more to the N than that of the nave.

VCH records the presence of the piscina. Pevsner does not mention it.