The parish was originally dedicated to Nuestra Señora La Antigua; however, later (16th and 17th centuries) it came to be called La Asunción de Nuestra Señora.

In the 19th century, this church belonged to the Bishopric of Osma, despite being in the province of Burgos, until 1956, when it became part of the current Diocese of its province.

The parish church of the Assumption of Our Lady has an almost Baroque interior for the most part. The church has a single nave divided into four bays, with geometrically decorated vaults and central fleurons. At the back is the choir and on the side there is a small chapel that houses the altarpiece of Santo Cristo.

In 1693 permission was granted to build the Chapel of Santo Cristo de Pedrosa. It was built at the expense of the contributions of the Council and the Vera Cruz Brotherhood, which paid for any expenses that might be incurred.

In 1723, the church was renovated, a fact that is preserved in the arch that appears in the ascent to the presbytery of the church. The vaults of the nave, built in the Baroque century, have rich geometric tracery with lunettes supported by transverse arches. The magnificent tower, mistress of the moor and guardian of the bread and vineyards, pulls the building to the top. Already with the rank of Villa, in 1726, Pedrosa did not delay in adorning its temple with altars, images and paintings.

The Libro de Fábrica does not tell us who the author was, although experts mention the master Juan Félix de Rivas. Four highly ornamented columns, as befits the most flamboyant Baroque style, frame the youthful and triumphant carving of María Asunta. The gilding is generous. The altarpiece is crowned by a painting of Our Lady of La Encina, of artistic interest and dated 1740.