Sir Roger de Montalt, a baron during the reign of Henry VIII, gifted the land on which St Mary's was built.
The present church at Trusthorpe, dedicated to St Peter is not the first church to be built in the parish. An earlier church existed whose exact location is unknown, but it was destroyed when the sea broke through in 1287.
It was not until the early 1300s that another church was completed on the present site, but little remains of this building either, except the side pillars of the chancel-arch and the font. However, there remains in the wall of the entrance porch under the tower, a stone inscription chiselled, asking for prayers to be said for the soul of Richard Wright, a landowner of some importance. The stone inscription must be a record of one of the last instances where a chantry priest would be asked to say prayers for the soul of a departed parishioner under the ‘old’ Roman Catholic religion.
In 1606 extensive restoration work was carried out and this required that most of the existing church should be demolished. It was from this second rebuilding that the present tower of mellow Tudor bricks dates.
In the early 1900s plain windows were replaced with stained glass. The two larger ones depict Jacob’s Ladder and Jacob’s Blessing respectively, whilst the smaller one above the pulpit shows St Peter with his fishing net. It is said that the portrait of St Peter is based on that of the Rector whose memorial it is. Other windows depict our Lord as King of Heaven, with St Peter and his book and keys one side and St Paul on the other. Tapestry kneelers depicting local events and parishioners are also on display.
The tower has three Taylor cast bells and Villagers, who renovated its Balcony and Tower in 2015, started a bell ringing group, 'The Trusthorpe Clangers' who ring for Sunday morning services, practice nights and for all national bell ringing days. On Remembrance Sunday they were chosen to ring alongside Lincoln Cathedral on BBC Radio.