In 1187 a priest is mentioned in Voßwinkel for the first time. However, the church dedicated to St. Urbanus I (pope and martyr) seems to have existed much earlier. After the fire of the previous building in 1749, the present baroque church was built on the same site from 1750-56. Its consecration took place after the Seven Years' War in 1765. A neo-baroque annex was added in 1938-39.
The three rococo altars are worth seeing; one side altar used to serve as a pulpit at the same time, a rarity especially in Catholic churches. The organ from 1890 is the first work of the then newly founded organ building company Stockmann, Werl.
During the last renovation (2002/03) the interior received a modern painting by the artist Tobias Kammerer. The connection between historical furnishings and modern painting is highly regarded.