In Doomsday Book Foston was a single estate held of William de Percy by Hugh. It was probably held by William of Arundel in 1166, and later by Roger of Arundel, who died before 1213 (VCH, II, 179).
There was a church at Foston in 1086. The advowson belonged to the lords of the manor (VCH, II, 186).