In 1243, a chapel of its own was already mentioned. The present church, St. Joseph's Church, was consecrated in 1893. The chapel was built in neo-Gothic style and is a brick hall building. It was built in place of a previous building that had fallen into disrepair. In 1970, the church was thoroughly renovated; during another renovation in 2003, the high altar and side altars were restored.
The statue of the church patron Joseph of Nazareth is much older than the chapel. It probably comes from one of the predecessor churches. The 85 cm high, colorfully painted sculpture made of lime wood is considered an art treasure and probably originates from the Papen workshop. Its origin is dated to the end of the 17th century.
Mariengrotte
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 protectively hold her hands over the village.