Milson is a village in the south of the county, close to the borders with Herefordshire and Worcestershire. The nearest good-sized town is Kidderminster (Worcestershire) 11 miles to the E. The church stands at a junction of minor roads, where a cluster of farm buildings could be said to constitute the village centre.

It is constructed of stone rubble with ashlar dressings and consists of a 12thc nave and chancel with a S porch and a low W tower, probably early 13thc, with a low, shingled bell stage and a pyramid roof. Inside the tower arch is 13thc and the chancel arch has been replaced by a timber proscenium. The nave has 3 12thc lancets and the chancel one on each side. Romanesque work recorded here is a S nave doorway and a font.

Milson was a berewick of Neen Sollars in the Domesday Survey, and that manor was held by Osbern FitzRichard as overllord. Before the Conquest it was held by Siward, who retained it under Osbern in 1086. By 1174 the Lord of Milson was William de Muleston, taking his name from the lordship, and his overlord was Osbern FitzHugh, descendant of the Domesday overlord. The church was subject to Neen Sollars throughout the Middle Ages.

The W capital of the S doorway is made of red sandstone, whereas the E capital is carved out of grey sandstone. The trumpet scallops and flat leaves of the capitals suggest a date c.1170-90.