As early as 1411, the citizens of Waldau built a chapel in which they worshipped with priests from St. Peter's Monastery. It was not until 1762 that Waldau got its own priest, and in 1807 it became an independent parish. Instead of expensive marble, a cheaper alternative was found as a building material, which is often found in the Black Forest Baroque churches in the surrounding area.
The high altar was built in 1764/65. The central painting depicts the Assumption of the Blessed Virgin Mary. Above it is the stoning of Stephen.