Richardson was born at Hardwick, Depwade Hundred, Norfolk, and was baptised there on 3 July 1569, the son of William Richardson whose family were said to be descended from the younger son of a Norman family, John, who moved to county Durham in about 1100. Other branches of the family included the Richardsons of the Briary in county Durham, and the Richardsons of Glanbrydan Park and Pantygwydr, Wales.
Richardson was born at Hardwick, Depwade Hundred, Norfolk, on July 3, 1569, as the son of William Richardson whose family were said to be descended from a Norman family, John, who relocated to county Durham in approximately 1100. Other branches of the family included those in Briary, Durham, and Glanbrydan Park and Pantygwydr, Wales.