The Woodland Heights Free Will Baptist Church, established initially as Hilltop Baptist Church, was organized in December 1942 under the leadership of Rev. P. W. Emerson in Martinsville, Virginia. The church first operated from a purchased dwelling house on Red Oak Street before moving to its current location, following significant growth in attendance.

In 1956, a larger lot was acquired, and construction of a new building commenced in 1959, with the first service held in February 1960. This initial structure included a chapel, classrooms, an office, and restrooms. The church continued to expand, acquiring additional land and enhancing facilities, including the addition of a fellowship building and sanctuary, featuring stained glass windows, a baptismal pool, and a nursery, with the first sanctuary service held in 1966.

Over the years, the church saw further developments, including the creation of the Ralph and Minnie Weaver Fellowship Hall and the conversion of an old picnic shelter into the Prophets Quarters. The church also acquired a parsonage on Grand View Road in 2007.

Rev. Ralph Lee Weaver served as pastor until his passing in 1992, after which several pastors led the congregation, including Rev. Clayton Cordell, Rev. Jay Summerlin, and Rev. Terry Hardison. Most recently, Pastor Stanley Waddell served until December 2022. As of September 2023, Rev. John M. Bryant has taken on the role of pastor.

The church looks back with gratitude for its history and God’s blessings while remaining committed to addressing the needs of its community and embracing future opportunities for growth and outreach.