In the 9th century, Anglo-Saxons built St Andrew's Church next to the River Lugg. Following the Norman conquest of Wales, when the majority of the church was damaged during an attack by the Welsh, the Normans constructed a church incorporating the Anglo-Saxon north aisle. In the 12th-13th centuries the church was enlarged and a bell tower was constructed with a new nave and south aisle constructed by canons from Wigmore Abbey.
In 1868, a restoration of the church was carried out. Inside he repaired the original roof and wooden belfry but removed the west gallery and added a new nave, chancel and sanctuary. On the exterior, he changed the design to reflect the popular Gothic Revival architecture at the time. In doing so he added a vestry, transepts and a new spire for the bell tower.
A 13th-century coffin lid, possibly from a member of the Mortimer Family, is installed in the north side of the church.
In 1737, St Andrew's Church was given a Flemish tapestry from 1510 detailing Jesus' triumphal entry into Jerusalem. Upon receipt it was first used as an altar cloth for the church's altar up until the 19th century. In the 19th century, it was then framed and hung on the north wall of the church. It is one of only two pre-English Reformation tapestries to be hung on display in parish churches in the United Kingdom.
References:Sigmaringen Castle was first mentioned in the year 1077 in the chronicles of Petershausen monastery. The oldest parts of the castle are concealed beneath the alterations made during the 17th and the 19th centuries. The secret of the earliest settlement built on this defendable rock will never be fully revealed: large-scale excavation work would be necessary, which the extensive land development renders impossible. Judging from the many Roman remains unearthed in the area around Sigmaringen, the 12th century keep known as the 'Roman Tower' could be traced back to a Roman predecessor.
The castle remains that have been preserved (gate, great hall and keep) date back to the Staufer period around 1200. The castle remains were integrated into subsequent buildings. The foundations of the castle buildings are to a large extent identical to the surrounding castle wall.
These remains give us a good idea of how the castle might have looked during the 12th century.