The parish church dates from the Norman period, and has a fine 13th century tower.
Upminster Windmill, a smock mill, was built in 1803.
The Tithe Barn, dating from the 14th century, is now a museum.
Upminster Hall, with timber framing, dates partly from the 15th century. It is now clubhouse of the golf club.
The singer songwriter Ian Dury was born at Upminster.
Blue Badge Guide Colin Crosby is available to lead Guided Walks around Upminster for groups.