It is the only Anglican church in England to be dedicated to St Lambert, and one of its former vicars, Canon John Hartley, was noted for being a winner at the Men's Singles championship at Wimbledon two years running.

Whilst the current structure dates back to the 13th century, it is known that church existed at Burneston not long after the Domesday Book was collated, as Robert de Musters gave the church at Burneston to St Mary's Abbey in York during the tenure of William Rufus, who reigned between 1087 and 1100.

Each corner of the tower is supported by a buttress which had a shield bearing the coat of arms of some of the local noble families.

"[4] Almost the entire east end of the church is a window dedicated to the Duke of Cleveland, installed at the request of the duchess during the renovations.

[18] Between 1874 and 1919, the incumbent at St Lambert's was the Canon John Hartley, who won the Wimbledon men's singles tournament in 1879 and 1880.