Holy Rood Church is a modern building, taking the place of a 19th century rebuild of a mediaeval church. Both had to be demolished because of subsidence, but the present church incorporates a Norman arch.
Bagworth had a station on the very early Leicester to Swannington railway line, one of the first lines to be constructed. It had a famous Incline, where a stationary engine would pull carriages up the hill.
The line is still there, and used for freight traffic. It was due to reopen to passengers as the Ivanhoe Line between Leicester and Burton-on-Trent in 1997, but the powers that be have not yet found the political will to do so.
There was a castle at Bagworth in the Middle Ages, probably a large manor house, although its site is not clear. It was one of the three, the others being Ashby-de-la-Zouch Castle and Kirby Muxloe Castle, that Lord Hastings was given licence to crenellate.