The study carried out by Church Mission Society (CMS) to uncover the nation's attitude to mission found that nine out of ten Christians said they believe "everyone is called to mission" and vicars and full-time Christian workers shouldn't be the only people evangelising.
However, the survey of more than 2,000 people also revealed that 27 per cent of Christians are deterred from spreading God's message out of fear, and 17 per cent are held back from getting involved in mission work because of a lack of training.
Thomas Fowler from CMS told Premier's News Hour churches need to address the issue.
He said: "You see people going all over the world and coming back and telling these amazing stories and you think, 'gosh, how could I do that?' but actually...God has presented people in front of us to speak with and to connect with."
Philip Mounstephen, Executive Leader of Church Mission Society said: "Most Christians know mission is for them and have a clear sense that it embraces all of life. But while many people have a strong sense of call, just as many struggle with it, and know they need help.
"Churches and mission agencies must work together to set Christians free from the fear and uncertainty preventing them getting involved and equip the 90 per cent of Christians who believe that mission is their calling."
The survey, which is part of CMS's Mission Is campaign, seeks to renew people's confidence in mission.
While half of the Christians questioned said they were putting their call to mission into action, 46 per cent either don't know what their call is, or are struggling to put it into practice.
Mounstephen said mission work must be made a priority.
He added: "Overall, this survey shows British Christians to be balanced, nuanced and knowledgeable in their understanding that 'mission' needs to stretch beyond the walls of the church.
"Christians want to be part of God's mission and given the support and opportunity, they will take up the challenge."