A separate chapel is mentioned as early as 1243. The current church, St. Joseph's Church, was consecrated in 1893. The chapel was built in the neo-Gothic style and is a brick hall building. It replaced a previous building that had fallen into disrepair. The church was completely renovated in 1970; the high altar and side altars were restored during a further renovation in 2003.
The statue of the church's patron saint, Joseph of Nazareth, is much older than the chapel. It probably comes from one of the predecessor churches. The brightly painted, 85 cm high sculpture made of lime wood is considered an artistic treasure and probably comes from the Papen workshop. Its creation is dated to the end of the 17th century.
Mariengrotte grotto
On July 7, 1935, the people of Udorf built the Mariengrotte on the Kittenberg. It was built on the highest point so that the Mother of God would hold her hands protectively over the village.