Around the 6th century Goring became part of the kingdom of Sussex. Like in other villages in the south of Sussex, the people of Goring had land to the north that they used as summer pasture in the Weald, at Goringlee, near Coolham. This route would have been used as a droveways for driving livestock, especially pigs.

The parish of Goring existed at the time of the Domesday survey in 1086, under the name Garinges. Unlike the other parishes in the area covered by the present Borough of Worthing, which have been in the Rape of Bramber since the 11th century, Goring forms part of the neighbouring Rape of Arundel. (Rapes are the six ancient subdivisions of the county of Sussex, each named after a castle and its associated town.). The former parish of Goring incorporated four manors. The most important of these passed from the Earls of Arundel to Roger de Montalt, 1st Baron Montalt and several other holders.

The former parish of Goring included Castle Goring, a country house built for Sir Bysshe Shelley, 1st Baronet in the late 1790s. Intermittent residential development began in the 19th century and continued throughout the 20th century. Although the railway came to Goring in 1846, there were so few passengers using Goring station that it was closed for a period. Goring's population expanded after 1929, when it became part of the borough of Worthing, and again in 1938 when the railway was electrified. Over a period of around 50 years, much of old Goring was demolished, although a few buildings survive.[9] Begun shortly before 1939, the Goring Hall estate was developed as a garden city, with concentric crescents near the seafront.