He had bivouacked half way between Westminster and Littlestown, but having ascertained that Kilpatrick was waiting for him at the latter place, attempted to avoid the encounter by going through cross roads to Hanover.

He found Farnsworth's brigade of cavalry there, however, and charged their rear, driving them back and capturing some prisoners and ambulances.

The 5th New York made a counter-charge under Major Hammond and drove him out again.
He claims to have taken the town by the aid of Hampton's brigade, which arrived in time to reinforce him.

Custer's brigade then came up from Abbotstown.

The battle lasted until night, when Stuart gave up the contest and retreated, leaving Kilpatrick in possession.
Part of his cavalry also attacked the 5th and 6th Michigan regiments at Littlestown, but were repulsed.