Pope Paul VI established the Titular church Sancta Mariæ Auxiliatricis in via Tusculana on 7 June 1967 via the Apostolic Constitution Ad Gubernacula Christianæ.

He raised it to the status of Minor Basilica via the Pontifical Decree Dulcia Christi Verba on 1 April 1969.

Pope Pius XI created this parish church on 25 March 1932, with the Apostolic Constitution Inter Pastoralis and entrusted to the Order of the Salesians of Don Bosco.

The walls and ceiling are decorated with frescoes of Baroque inspiration, made by Roman artisan Giuseppe Melle between 1957 and 1965.

A namesake statue is enshrined in the high altar of the basilica, which its crown and scepter was blessed by Pope Paul VI on 5 December 1965, in preparation for the closure of the Second Vatican Council.