The Windsor area was originally inhabited by the Dharuk (also Darug) nation of indigenous aboriginal peoples.

Windsor is the third-oldest place of British settlement on the Australian continent. Settlement at the location was first established circa 1791, near the head of navigation on the Hawkesbury River (known as Deerubbin in Dharuk). European settlers utilised the fertile river flats for agriculture. The area was originally called Green Hills, but renamed Windsor (after Windsor in England). The town was officially proclaimed in a Government and General Order issued from Government House, Sydney, dated 15 December 1810. Governor Lachlan Macquarie "marked out the district of Green Hills", which he "... called Windsor", after Windsor-on-the-Thames.

While in Windsor, Governor Macquarie ordered the main institutions of organised settlement to be erected, including a church, school-house, gaol and "commodious inn" (Macquarie Arms Hotel). Of these new buildings, the most outstanding was Francis Greenway's St Matthew's Anglican Church. Governor Macquarie himself chose the site for the church. Samuel Marsden, principal chaplain of the colony, consecrated the church on 8 December 1822.  (Wikipedia)