Gloria Dei was formed in May of 1985 by 170 souls who had left an ALC (American Lutheran Church) congregation in Saginaw, MI, seeking to continue in the Scriptural doctrine and practices of the historic Lutheran church. These faithful members formed an independent Lutheran congregation.

Pastor J.K. Smith accepted the call to become the congregation's first regular pastor. Pastor Homer Mosley, Jr. succeeded Pastor Smith and retired in 2020. Pastor Jacob Kempfert currently serves the congregation.

At first, the congregation met in various places, including Michigan Lutheran Seminary, until 1990, when they acquired eight acres of ground and built at the present location. The church is now located in Saginaw Township, which comprises the western portion of the greater Saginaw metropolitan area.

In 1989 Gloria Dei joined the Evangelical Lutheran Synod, headquartered in Mankato, MN. It is part of a regional district, Circuit #3, encompassing Michigan, Ohio, Pennsylvania, and Indiana. The pastors of Circuit #3 meet regularly for study and encouragement at Holy Scripture Lutheran Church, Midland, MI.

Other groups of men and women meet throughout the year in different settings to grow in their service to the Lord and their appreciation of the Gospel. The blessings of this larger, orthodox fellowship help facilitate the congregation's ministry in its outreach, nurture, and confessional practices.