Bentworth was not mentioned in the Domesday Book of 1086; it probably formed part of Odiham at the time. Between 1111 and 1116 the manor was granted to the Archbishop of Rouen by King Henry I. This did not include the advowson of the church, which was granted to St Mary’s, Salisbury, by King Stephen. The church, however, was granted to Rouen c.1165. Salisbury disputed this in the 13thc, but the advowson remained with Rouen until 1336.
The church is said to have suffered extensive fire damage after being hit by lightning in 1608. It underwent the following campaigns of restoration: 1849 (S aisle and S porch rebuilt; vestry added); c.1867 (work in chancel); 1879-80 (N aisle rebuilt; stonework restored; bases of columns underpinned in cement), and 1891 (W tower belfry and spire added; tower arch rebuilt). The architects in 1849 and 1879-80 were Carpenter & Ingelow; in 1891, Aston Webb. A modern extension with a kitchenette and WC was added to the N side of the N aisle c.2023.