In the 9th century, Anglo-Saxons built St Andrew's Church next to the River Lugg. Following the Norman conquest of Wales, when the majority of the church was damaged during an attack by the Welsh, the Normans constructed a church incorporating the Anglo-Saxon north aisle. In the 12th-13th centuries the church was enlarged and a bell tower was constructed with a new nave and south aisle constructed by canons from Wigmore Abbey.
In 1868, a restoration of the church was carried out. Inside he repaired the original roof and wooden belfry but removed the west gallery and added a new nave, chancel and sanctuary. On the exterior, he changed the design to reflect the popular Gothic Revival architecture at the time. In doing so he added a vestry, transepts and a new spire for the bell tower.
A 13th-century coffin lid, possibly from a member of the Mortimer Family, is installed in the north side of the church.
In 1737, St Andrew's Church was given a Flemish tapestry from 1510 detailing Jesus' triumphal entry into Jerusalem. Upon receipt it was first used as an altar cloth for the church's altar up until the 19th century. In the 19th century, it was then framed and hung on the north wall of the church. It is one of only two pre-English Reformation tapestries to be hung on display in parish churches in the United Kingdom.
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