The first church of Zundert probably was built in the 13th century. In the 15th century it was replaced by a church in Gothic style, a cruciform basilica. In 1648 it was confiscated by the state and given to the small protestant minority. In 1798 it was returned to the catholics. Although still complete, the 150 years of protestant ownership and serious neglect had left the church a bad state. Already after only two weeks of minimal repairs the church was taken in use again. In 1881 a much criticized restoration was carried out by architect P.J. van Genk in which much of the interior was destroyed.

Already in 1912 the old church was deemed too small and its replacement was considered. In 1925 architect Jan Stuyt was commisioned to designed a new church, an obvious choice perhaps because in 1911 he had already built the church in nearby Klein-Zundert. But compared to that neo-Romanesque church,  Like his earlier church in Almelo it features a big crossing-tower with a cone-shaped roof. The church itself shows elements of Expressionism. The nave and the transepts have large semi-circular windows, an element Stuyt used in several of his later churches. The choir is of the semi-round type with ambulatory, covered by a roof shaped like a half cone. The church has a wide central aisle and two narrower side-aisles, in front of one of which is the tall main tower, crowned with a cone-shaped spire, while the other has a stair-turret in front of it.

The new church was built right next to the old one. For a short time the two churches stood there as neighbours. Despite protests, the old church was demolished in 1928. The municipality, which owned the tower, managed to save that part of the church for a further few years, but eventually in 1940 it was demolished as well. The old St. Trudo is just one example out of many medieval churches that were demolished by the catholics and replaced by something modern. For that matter, the church of Zundert had survived relatively long.