The church of St. Margaret is set at the northern side of the village. The first church to be built where St Margaret's now stands was constructed of wood in Saxon times. The Normans rebuilt it in stone, and traces of their work can be seen in the present building. The majority of the church that survives to this day was built in the perpendicular period between 1066 and 1539.
After losing many of its treasures and falling into disrepair in the late 18th century, the church was saved by the Gilbert family who had taken up the lordship of the manor.
In 1854 St Margarets was restored, the old pews replaced, a new pulpit and reading desk were installed, the nave reroofed in 1876 and the chancel rebuilt four years later.
The bronze bell that hangs in the western tower inscribed J.B. 1639 remained unused for centuries until the housing was recently refurbished.
Legend has it that a headless horseman rides through Cantley at midnight. and a pot of gold lying at the bottom of a dark pool guarded by an evil presence.