Antioch Missionary Baptist Church had its beginnings in 1896 in the yard of the founder and first pastor, Rev. J. M. Parker, in the South section of Waco. Worship services were held in a tabernacle between Ivy and Bosque (now Daughtrey) Streets. During the same year, Antioch became a charter member of the Union Baptist District Association.

The second pastor, Rev. Monroe Burks, was instrumental in moving the church to S. Tenth and Oakwood Street where they worshipped in a brush arbor. The founder Rev. Parker was again called to the pastorate.

Rev. J. G. Smith's leadership was climaxed with the moving of the church to 1106 Oakwood Avenue. The structure was rebuilt in 1911 by Rev. A. Reeves.

Rev. Frank Erby's pastorate was highlighted with a remodeling project in 1922. He served seventeen years, 1912-1928.

The following pastors also served: Reverends S. H. Mitchell, L. D. Betts, J. C. Campbell, A. King and Rev. Henderson (full name not available).

On November 11, 1929, the Rev. Richard L. Bailey was called to the pastorate. He remodeled the building three times. A new structure with a seating capacity of approximately four hundred was erected April 21, 1946. The tornado of May 11, 1953, wrecked havoc on the building. Major repairs were carried out and Austin stone was added to the exterior. The renovated building was rededicated December 17, 1953. A new parsonage was also built. Spiritually, financially and numerically Antioch grew.

The following officials, auxiliaries, and departments were organized: Deacons, Deaconesses, Mission I, Mission II, Junior Women's Auxiliary, Starlight Band, Junior and Senior Usher Boards, Nurses Guild, Senior Choir, Celestial Choir, Youth Choir, Gospel Chorus, Young Adult Choir, Brotherhood, Widow's Council, Sunday School, Shepherd's Boys' League, Young Women's Auxiliary, Baptist Training Union, and Vacation Bible School.

In addition to his pastoral responsibilities, Rev. Bailey served as Moderator of the Union Baptist District Association for 31 years. He also served as the treasurer for the Congress of Christian Workers of the Missionary Baptist General Convention of Texas for 46 years. Rev. Bailey served Antioch for 56 years (1929-1986). 

The dynamic Rev. Fabian K. Jacko became the under shepherd on November 2, 1986. A noted evangelist, Rev. Jacko is credited with being the youngest pastor from Texas to preach at the state and national conventions consecutively. He is a gifted singer and has recorded two albums in conjunction with the Greater Mt. Tabor Baptist Church, Fort Worth. The membership has increased fourfold during his pastorate.

He organized and/or reorganized the following auxiliaries and department: Christian Education Department, Outreach Ministry, Singles Ministry, Young Men for Christ, the R. L. Bailey Scholarship Fund, New Members Orientation, Antioch Crusaders Drill Team, Vacation Bible School, Men's and Women's Celebrations, Angelics (Children's Choir), Youth and Young Adult Choir, Women Chorus and Male Chorus. An Audio and Video Ministry, Radio Ministry, College Ministry and Children's Church were established.

Antioch was host for the Evangelical Board of the Missionary Baptist General Convention of Texas in May 1990. This meeting was heralded as the best supported and most attended board session ever held before.

On December 19, 1990, Rev. Jacko brought to the church a vision to erect a new edifice. A Building Fund Committee was appointed and the work began. A 5.8 acre property tract, located on the corner of S. 12th Street and Gurley Lane (2814 S. 12th Street) was purchased from Mrs. Theda Rinewalt in 1995. A victory celebration was held on May 27 on the property site. On September 10th, Rev. Jacko's vision became a reality. The ground breaking ceremony was held and construction began immediately thereafter. Completed on March 11, 1996, the new 11,000 square foot facility, valued at one million dollars, has a 500-seat sanctuary, and also consist of classrooms, office space and room for expansion. 

The first worship service in the new building was held on Easter Sunday, April 7, 1996. A grand march was held from the old building to the new one on April 28. Following the march, the Waco Chamber of Commerce held a ribbon cutting ceremony and Dr. G. W. Daniels, president of the Missionary Baptist General Convention of Texas, delivered the dedication message during the New Sanctuary Dedication Service.

Antioch Baptist Church highlighted its Centennial Anniversary with a 15 month celebration beginning July 16, 1995. The closing Centennial service was held on November 3, 1996. Rev. Ralph D. West, Pastor of the Brookhollow Baptist Church, Houston, Texas, delivered the anniversary message. Also Pastor Jacko celebrated ten years as the leader of the Antioch Church.

The Lord moved mightily in our new location in 1997. Antioch hosted the Baptist Ministers Union of Waco-McLennan County's annual city-wide revival in April. Many debts incurred with the move were retired. The women of Antioch raised more that $18,000 for their annual day observance. Cedric Bailey, gospel radio personality for station 970 AM-Dallas, was special guest for the first women's Rally for Christ. Over 100 people, including more than 12 families, joined the Antioch Church.

In January of 2003, Pastor Delvin Atchison I joined the Antioch family as pastor. Continuing the Antioch tradition of leadership, he presently serves as Recording Secretary of the Missionary Baptist General Convention of Texas. He formerly served as the moderator of the Palestine Bowen Baptist District Association. Pastor Atchison had the distinction of being the youngest moderator in the country. He also serves as the conference coordinator of the Evangelical Board of the Missionary Baptist General Convention of Texas. 

He also serves on the following boards of State Convention; Home Mission, Foreign Mission and B. T. U. He is a member of the Evangelical Board of the National Baptist Convention of America. He is also a member of The National Moderator’s Council.

Pastor Atchison has boosted Antioch's attendance and encouraged growth in the senior, college and youth ministries, adding a youth board, a mime team and further developing a praise and dance team as well as a drill team. Under his leadership, an evangelism team was added as well as a golf and Boys to Men program. 

Atchison looks forward to many years of history making at Antioch.