On September 19, 1957, twenty-two residents living in the rapidly expanding Windsor Hills section of southwest Roanoke met to discuss the possibility of beginning a new Southern Baptist Church. With the aid of the Roanoke Baptist Missionary and Social Union, Windsor Hills Baptist Chapel, later to become Windsor Hills Baptist Church, came to be. The sanctuary was dedicated for service in April 1960, and the second unit was completed in 1966.

Reverend C. Lawrence Dodson began his ministry as pastor on April 1, 1958. He served and led the congregation in fulfilling its stated purpose: to exist for the glory of God, the honor of Christ His only begotten Son, our Savior, and for the blessing of mankind.

In April 2021, Rev. Dodson announced his retirement after 63 years of faithful service. Rev. Jim Walls became the pastor as of March 2023 and has been devotedly serving by preaching the Word and reaching the surrounding community for the Gospel of Jesus Christ.