Audrey Walsingham Audrey Walsingham Lady Audrey Walsingham, née "Shelton" (1568-1624), was an English court office holder. She served as Lady of the Bedchamber to queen Elizabeth I of England, and then as Mistress of the Robes to Anne of Denmark from 1603 until 1619. She was born to Sir Ralph Shelton and married Sir Thomas Walsingham, cousin of Sir Francis Walsingham. She served as Lady of the Bedchamber to queen Elizabeth I. In 1603, she was selected to be in the English entourage who met the new queen at the Scottish border, and accompanied her to London. She was appointed Mistress of
Thomas Walsingham (literary patron) with Poley present, purportedly in a dispute over an unpaid debt. Poley later became an important, secret intermediary in clandestine arrangements for installing Elizabeth's putative successor, King James. Francis Walsingham made use of his young relative as early as October 1580, when he appointed him as one of the trusted couriers between the English court and the queen's ambassador in France. In August 1581 Thomas accompanied Sir Francis to Paris on a delicate diplomatic mission connected with the proposed marriage between Elizabeth and the French king's brother, Francis, Duke of Anjou. In 1596 he was appointed Justice of the Peace