The history of the Russian Orthodox Church of the Holy Trinity in Milwaukee began on December 14, 1952, when Archpriest Vladimir Glindsky served the first Sunday Divine Liturgy at house #1136 on Madison Street. Father Vladimir at that time served in the cathedral in Chicago. Exactly six months later on June 14, 1953, Father Vladimir was appointed permanent rector of the new Holy Trinity Church in Milwaukee and Sunday Divine Liturgies were held regularly.

The first church building was purchased in 1954 and exactly two years after the first liturgy, on December 14, 1954. The church was consecrated by Archbishop Gregory of Chicago and Detroit.

In September 1957, Archpriest Vladimir Zheromsky became the rector of the parish. In 1982, Father Vladimir was succeeded by a Serbian Orthodox priest Emelyan Glozar at the post of rector of the church, and after his retirement — by a priest Averky Moreno. Prior to 1991, Father Leonty Durkit, Father Peter Burlakov, Father Herman Ciba, and Father Nikolai Churak were the successors of the church in turn.

In March 1991, Archpriest John Shaw became the rector of the church. On December 10, 2008, he was consecrated as Bishop Jerome of Manhattan and Archpriest Vasily Zelenyuk becomes the rector of the parish.

September 2009 saw the parish purchase its current building at 8635 W. Warnimont Ave. in Milwaukee. The church was consecrated by Archbishop Peter.

In 2014, Archpriest Marko Todorovic retired from St Nikola Serbian Orthodox Church in Cudahy, Wisconsin, and became an active member of our church community serving alongside Father Vasily. In July 2022, Professor Reverend Rostyslav Snihirov became the rector of Holy Trinity serving alongside Father Marko and long-time Deacon (later the protodeacon) Father Dimitry Kamolov who, on December 1, 2017, he was tonsured a monk as Hierodeacon Gorazd.