He was buried in the churchyard of St Mary Magdalen Woolwich; he designed the memorial located in its Lady Chapel.
To its basic nave, galleried aisles and west-end tower have been added a chancel (1894, by J.O. Scott, with Bath stone buttress capping and band courses), a Lady Chapel (containing the tomb of Henry Maudslay, designed by himself), organ chamber and sanctuary, all in the 19th century.
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The Commission funded in part the rebuilding of five other churches – St George Gravesend, St George the Martyr Southwark, St Giles in the Fields, St Mary Magdalen Woolwich and St Michael, Cornhill.