As per the Legend, Lord Murugan, Commander-In-Chief of Devas encamped here at Thiruchendur. Murugan installed Siva Linga to offers prayers, for which Mayan, the architect for Devas constructed the temple. From here, He sent the message to the demon Surapadma at Veera Mahendrapuri thru Veerabahu Devar for the battle.
Lord Singaravelavar (Murugan) recieved the divine Lance (Vel) weapon from His mother at Sikkal to beat Surapadma.
The sand on the shore at Thiruchendur completely turned Red with the bloodshed due to battle. Thus this place referred as 'Senthur' which mean 'Red region'. After winning the battle against Surapadma, Lord offered prayers to Lord Siva at the Mayan built temple.
The victory against the demon is still celebrated here as Skanda Shasti.
Aadhi Sankaracharya visited this temple praised Lord Murugan with a great stotra. Murugan offered Darshan and blessed Aadhi Sankaracharya here.
As a mark of respect to the war zone where Lord Camped himself, Honorary prefix 'Thiru' was added and popular by Thiruchendur.