The Domesday Book records that Waltheof, Earl of Northumbria, and Gilli held the manor in 1066; it valued £0.5. In 1086 King William and Robert, Count of Mortain, had land here. The manor of Rillington, with the advowson, was given to Byland by Henry, son of William de Angoteby; the grant was confirmed in 1281.
The appointment of the first priest of St Andrew's church in c.1250, Robert de Okhamwall, and perhaps the consecration of the building, are depicted in the wall painting of the nave.