This lofty cruciform church has its tower attached to the S transept. The tower dates from 1738 and was built by George Portwood. The N arcade of the nave and the chancel are 13thc and the clerestory was added around 1450. A major restoration was done in 1873-74 by G. G. Scott. The S doorway of the nave and the S arcade are Romanesque.

According to Domesday Book, there was a church in Witham-on-the-Hill in 1086 on the land of Gilbert of Ghent. The assessment for the rectory in 1298 was £30, and the church was appropriated by Bridlington Priory in 1285.

The seated figure in the niche above the S doorway is described in the church guide as representing St. Andrew, the titular saint of the church. The placement of the feet on a circular object suggests the orbis mundi, or perhaps a rainbow, below the feet, both attributes associated with images of Christ in Majesty. The damp-fold and the loop of drapery recall the drapery style found in English manuscripts of the second quarter of the 12thc such as the Bury Bible from Bury St. Edmunds, c. 1135.