This single-aisled church stands in the centre of the south Shropshire village of Stoke St Milborough. Built of coursed stone rubble and stone rubble with ashlar dressings, it has a chancel, nave, timber-framed S porch, and W tower. The fabric is mainly of the 13thc and 15thc, although traces of an earlier church remain (Newman and Pevsner (2006), 607). It was altered in the 17thc, and presumably the porch belongs to this phase. The church was restored in 1859 and again in 1911. The font's bowl has been dated to the 12thc (Historic England List), and there is a sculpted 12thc fragment reset to the right of the priest's door at the SE corner of the chancel.

In 1086, Stoke St Milborough rightfully belonged to Wenlock priory, although it had been given by Earl Roger to his chaplains. It was restored to the priory, who held it until 1540.