The Judson Memorial Church is located on Washington Square South between Thompson Street and Sullivan Street, near Gould Plaza, opposite Washington Square Park, in the Greenwich Village neighborhood of the New York City borough of Manhattan. It is affiliated with the American Baptist Churches USA, the Alliance of Baptists, and with the United Church of Christ.

The church sanctuary, its campanile tower and the attached Judson Hall were designated landmarks by the New York City Landmarks Preservation Commission in 1966, and were added to the National Register of Historic Places in 1974.

By the mid-19th century, the village had the largest African-American community in the city, along with joined German, French and Irish immigrants, and to the immediate south a majority of Italian immigrants. Earlier more affluent communities had begun an exodus from the adjacent neighborhoods to the south and east. Judson observed that the "tendency is for the intelligent, well-to-do and church-going people to withdraw from this part of the city". The park and the new church stood at the intersection between the affluence of Fifth Avenue and the poverty of Lower Manhattan.

The church was founded by Edward Judson who had been preaching at the Berean Baptist Church on Downing Street, also in the village, but his efforts at expanding the congregation were so successful that a new sanctuary was required. In 1888, with the backing of John D. Rockefeller and other prominent Baptists, construction of a new church south of the park was begun. Judson had chosen the location because he wanted to reach out to the neighboring communities. It was to be a memorial to Judson's father, Adoniram Judson, one of the first Protestant missionaries to Burma. The church building was designed by architect Stanford White, with stained glass windows by John La Farge. It features Renaissance influences wedded to a basic Italianate form. Sculptor Augustus Saint-Gaudens designed a marble frieze in the baptistery, which was carried out by Herbert Adams; it was completed in 1893.

As well as worship and religious education, the church offered health-care and outreach ministries to non-members as well as members. However, the church was not able to attract sufficient support from its wealthy neighbors on the north side of square, and by 1912, the church found itself in financial difficulties. The Baptist City Society (metropolitan association of Baptist churches) was persuaded to take over the property and financial responsibility, which it ended up holding until the congregation was again able to resume ownership and control in 1973.

In 1921, under the leadership of its pastor, A. Ray Petty, the church offered first its basement and then rented its parish house on Thompson Street to Dr. Eleanor A. Campbell, a pioneering female physician who ran the Judson Health Center, a free medical and dental clinic. The center operated at 237 Thompson Street from 1922 to 1950, when the clinic moved to its present location on Spring Street in SoHo, the neighborhood to the south. During the 1920s, the church, with aid from the national American Baptist denomination, also ran the Judson Neighborhood House, a settlement house, at 179 Sullivan Street.

During the Great Depression in the early 20th century, Laurence Hosie served as pastor. Although the congregation dwindled, the church remained active in various social causes, including allowing homeless men to sleep on the pews at times. In 1937, the Baptist City Society appointed Renato Giacomelli Alden as pastor.

After World War II, with the rush of new students the former parish house and health center was turned into a residence for international students and students of various races, led by Dean R. Wright, the Baptist chaplain to New York University, the church's neighbor. At the same time, a new pastor, Robert Spike, began theological explorations with veterans and the artists then working in the village, which brought a new group of congregants and led to a change in the church's worship style to a more modern sensibility.