The earliest record of a church at Peter Tavy is in 1185, but the present church was built around 1300 and then added to. The church is an excellent example of a small Dartmoor church largely built from granite.

Only 2 sections of the original medieval rood screen survive. They have been restored and are now safely mounted on the west wall. There are images of 8 saints. There has been some damage to the paintings which may result from wear and tear over the years.