Iron Age pottery and artefacts have been found here proving it to be an ancient settlement site. The 13th-century parish church, dedicated to St Mary the Virgin at Stone, was known as the "Lantern of Kent" from its beacon light known to all sailors on the river. It is one of Kent's most dramatic churches and is renowned for its Gothic sculpture made by the masons who built Westminster Abbey. The Grade I listing entry narrates each spandrel is either identical or almost identical to those at Westminster Abbey and therefore also dates to 1260, it also describes the North Chapel built for Sir Richard Wiltshire's death in 1527
Located about a mile to the south of Greenhithe and just north of the Roman Watling Street, Stone Castle dates from the mid-11th century, and is thought to have been constructed without license during the reign of King Stephen, but was later permitted to remain by King Henry II after his accession to the throne.
The castle was built almost entirely of flint. The only surviving portion of the original medieval castle intact is its large rectangular tower, rising 40 feet in height. An adjoining Georgian house was built onto the tower by Sir Richard Wiltshire; in 1527 Cardinal Wolsey stayed at his house while passing through the district. In more recent times the property has belonged to the Church of England.