Hempstead is a village and civil parish in the north of the English county of Norfolk.

The village was mentioned in the Domesday Book as Hempstede, and was part of the estate of the Manor of Holt at the time.

All Saints' church was founded in the late Anglo-Saxon period and is Grade II* listed.

The nave dates from the thirteenth century, and is located slightly to the south of the site of the original Anglo-Saxon building.

The south porch is Tudor, while the round apse at the east end was completed in 1930, notable for being thatched.