The Urantia Book discusses different types of religion, and the evolution of religion.

Humans have a tendency to worship. This leads to evolutionary religion across the world in primitive humans. These primitive religions are usually fear based. There also is revealed religion, from personal religious experience, and from truth about the Creator and Creation revealed to humans from time to time, to advance civilization. The life and teachings of Jesus are such a religious revelation, and so is The Urantia Book. In society, religion tends to become ordered and established.

While the religions of the world have a double origin―natural and revelatory―at any one time and among any one people there are to be found three distinct forms of religious devotion. And these three manifestations of the religious urge are [emphasis by UMS]:

1. Primitive religion. The seminatural and instinctive urge to fear mysterious energies and worship superior forces, chiefly a religion of the physical nature, the religion of fear.
2. The religion of civilization. The advancing religious concepts and practices of the civilizing races-the religion of the mind-the intellectual theology of the authority of established religious tradition.
3. True religion-the religion of revelation. The revelation of supernatural values, a partial insight into eternal realities, a glimpse of the goodness and beauty of the infinite character of the Father in heaven―the religion of the spirit as demonstrated in human experience. 1728§4

The barbarous idea of appeasing an angry God, of propitiating an offended Lord, of winning the favor of Deity through sacrifices and penance and even by the shedding of blood, represents a religion wholly puerile and primitive, a philosophy unworthy of an enlightened age of science and truth. Such beliefs are utterly repulsive to the celestial beings and the divine rulers who serve and reign in the universes. It is an affront to God to believe, hold, or teach that innocent blood must be shed in order to win his favor or to divert the fictitious divine wrath. 60§3

While the religion of authority may impart a present feeling of settled security, you pay for such a transient satisfaction the price of the loss of your spiritual freedom and religious liberty. My Father does not require of you as the price of entering the kingdom of heaven that you should force yourself to subscribe to a belief in things which are spiritually repugnant, unholy, and untruthful. It is not required of you that your own sense of mercy, justice, and truth should be outraged by submission to an outworn system of religious forms and ceremonies. The religion of the spirit leaves you forever free to follow the truth wherever the leadings of the spirit may take you. And who can judge perhaps this spirit may have something to impart to this generation which other generations have refused to hear? 1731§3 [Jesus speaking, as quoted in The Urantia Book.]

The religions of authority can only divide men and set them in conscientious array against each other; the religion of the spirit will progressively draw men together and cause them to become understandingly sympathetic with one another. 1732§2 [Jesus speaking, as quoted in The Urantia Book.]