We obtain the complete theory of Newton-Cartan gravity in a curved spacetime by considering the large $c$ limit of the vielbein formulation of General Relativity. Milne boosts originate from local Lorentzian transformations, and the special cases of torsionless and twistless torsional geometries are explained in the context of the larger locally Lorentzian theory. We write the action for Newton-Cartan fields in the first order Palatini formalism, and the large $c$ limit of the Einstein equations. Finally, we obtain the generalised Eisenhart-Duval lift of the metric that plays an important role in non-relativistic holography.
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