Upton is not mentioned in the Domesday Survey, and might be included with Castor. Early in the 12thc a landowner named Godwin of Upton held 3 virgates there. By the mid-12thc the Watervilles held land in Upton, the earliest reference being to Ascelin de Waterville in 1146. The Watervilles briefly lost Upton as a result of a rebellion against Henry II in 1174, but it was recovered by Asceline de Waterville in 1190. She had 2 daughters, Asceline and Maud, the former inheriting most of the Upton estate. When the younger Asceline married she brought Upton as part of her dowry, hence the manor passed to her Torpel husband and thence to her daughter who married Ralph Camoys. Their son John sold the manor to Eleanor of Castile, Queen of Edward I. The later history of this fascinating manor, which passed at one stage to Edward II's favourite Piers Gaveston, will be found in VCH.
The chapel, with its mother house of Castor, was confirmed to Peterborough Abbey by Richard I and Henry III, but the Lords of the Manor retained some rights over it, including the advowson which was shared between the sisters Asceline and Maud in the 13thc.They ultimately gave their shares to the nunnery of St Michael, near Stamford, founded by William de Waterville, Abbot of Peterborough. The dedication is somewhat confusing. In 1521 John Strete oif Upton made a bequest to the Chapel of St Helen at Upton, suggesting either that the dedication has changed since then, or that there was a chapel within the church dedicated to St Helen. VCH (484 and notes) refers to the church as St Helen's, but notes that Bacon (1786) gives St John the Baptist as the dedication. In 1851 the chapel became the parish church of Upton.