Written by the British hymn writer Matthew Bridges. The tune is Diademata by George J. Elvey. The final verse is a version by John Barnard.
The writer and I both share a birth place: Maldon, Essex. He spent his later life in Canada having converted from Anglican to Roman Catholic at some point. We usually sing 4 of his 6 verses (with slight variations of text). The five verse version adds a verse by Godfrey Thring who wrote six of his own verses.