St Petrox Church situated near the mouth of the river is the oldest of the three parish churches, the earliest reference being in 1192. Believed to have provided a light at the harbour entrance, as well as being for the use of residents in South Town (between Bayards Cove and the harbour mouth) this area was at one time part of the neighbouring parish of Stoke Fleming.

With its stunning location, next to Dartmouth Castle, St Petrox Church is most popular for weddings.