The settlement was founded in these places by the beekeeper Kandaur in 1597. Initially, the hamlet belonged to the Tolokonetsky Monastery, but was later illegally assigned to the Pechersky Monastery. In 1613, this territory briefly returned to the palace administration, and six years later was handed over to the clerical secretary I. Gramotin. After his death, the village passed to the Trinity-Sergius Monastery. In 1647, the village became a selo when a wooden church in honor of the Life-Giving Trinity was built and consecrated here. Over time, the building fell into disrepair, and the parishioners, having received permission from Bishop Pitirim, replaced the rotting logs, completing the renovation in 1737. The church became a two-altar church.

Under the project of provincial architect I. I. Mezhetsky, the construction of a three-altar stone temple began. In 1825, the chapel in honor of the Annunciation of the Most Holy Theotokos was consecrated, and in 1830, in honor of St. Nicholas the Wonderworker. The main altar was consecrated only in 1844.

Like many churches in the area, the temple was destroyed in the 1930s.

In 1994, believers began its restoration. In 1995, a priest with a large family came here for permanent service. A Sunday school was organized for the children of the parishioners. A distinctive feature of the Kantaurovo church is the placement of the choir under the vaults, allowing the sound to spread from above and be heard everywhere. The choir is also unusual in that its main members are children.