Whatever the exact date, the first church was built over the basilica in the forum of the Roman city of Tibur (1st century BC), whose apse can still be seen behind the one of the present building.
The present cathedral, in Baroque style, was built by order of Cardinal Giulio Roma, bishop of Tivoli from 1634 to 1652.
In 1747 the side door on the north was created, while the inside decoration dates from the early 19th century.
The west front of the church has a portico with three arches, and is flanked by the Romanesque bell tower, about 47 meters high.
The interior was decorated by the Roman painter Angelo De Angelis in 1816: on the vault are paintings depicting The Glory of St. Lawrence, Faith and Religion, while in the apse are depicted four saints from Tivoli: Pope Simplicius and the martyrs Generosus, Symphorosa and Getulius.