St. Peter's Church is mediaeval, and has a beautiful spire.
There was a considerable Augustinian priory here, founded in 1316, and long stretches of the perimeter wall survive.
In the grounds of Kirby Hall, now mostly demolished, is what appears to be an Iron Age tumulus. This, however, was constructed in the 17th century by the owner as a talking point.
There was a battle between rival barons here in 1326, and another during the Civil War in 1645.
Blue Badge Guide Colin Crosby is available to lead Guided Walks around Kirby Bellars for groups.