Sprotbrough, Edlington, Conisbrough, Levitt Hagg and Balby surround Warmsworth.

Warmsworth was mentioned in the 11th century Domesday Book, a detailed survey and valuation of all the land held by the King William I and his chief tenants.

It has been suggested that "ford" indicated that it was close to the river's edge, and the "Wemes" or "Worm" meant the most sheltered site in that area.

The church was designed after a period which the rector had spent in California, and his experiences there influenced the whitewashed brick appearance of the building.

[4] Warmsworth was the home of the Quaker Thomas Aldham, who was instrumental, with George Fox, in founding the nearby Balby meeting (congregation).