A predecessor church was erected in 1192, and Pope Sixtus V assigned it to the Minim friars in 1585. Gaspare Guerra designed a new church in 1604, but the project stopped eight years later. Francesco Borromini revamped it in 1653 and is responsible for the apse, the cupola's tholobate and the square campanile. Mattia De Rossi continued after Borromini's death. The facade was completed in 1826, paid for by the will of Cardinal Ercole Consalvi. The infobox calls the style Baroque, while the text calls the facade late Renaissance in style.
Two angels by Bernini, made for the Ponte Sant'Angelo, were moved here and replaced on the bridge with copies. Marcello Piacentini renovated the Bartolini Chapel in 1950.
It is a titular church and a minor basilica since 1942.
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