The settlement was established before 1066. The manor of Sundon is listed in the Domesday Book of 1086. The manor was held by the de Clare, Badlesmere and Scrope families until the mid 16th century, when it passed to the Cheyne family. In 1716 it was sold to William Clayton, 1st Baron Sundon. It later passed to the Page-Turner family.
The St Mary the Virgin Church was first built in Lower Sundon in the 13th Century. It is a Grade I listed building. The Victorian vicarage is Grade II listed, and features very fine latticed windows.
- Page, W. "Parishes: Sundon Pages 384-387 A History of the County of Bedford: Volume 2". British History Online. Retrieved 12 October 2021.
-  Archived June 30, 2010, at the Wayback Machine
- "Church of St Mary". British Listed Buildings. Retrieved 12 October 2021.
- "St Mary's Vicarage". British Listed Buildings. Retrieved 12 October 2021.