The locality of Astley Cross was mentioned at least as early as 1854, when John Noake described the area in the third volume of his book, The Rambler in Worcestershire. Noake described the landmarks, houses, bridges, and roads in the area, including Redstone Lane (which still exists). Noake believed that the body of Arthur, Prince of Wales had been brought through the area on Areley Common upon the prince's death in 1502.
In 1900, the Incorporated Church Building Society granted the village of Astley Cross moneys to build a mission church. Today, Astley Cross is the site of the Astley Cross Inn.