Elizabeth Stafford, Countess of Sussex paternal aunt was Margaret Dayrell who was wife to James Tuchet, 7th Baron Audley. Her maternal uncles included (among others) Anthony Woodville, 2nd Earl Rivers, Richard Woodville, 3rd Earl Rivers and Lionel Woodville, Bishop of Salisbury. Her aunts included Elizabeth Woodville and Mary Woodville, married respectively to Edward IV of England and William Herbert, 2nd Earl of Pembroke. Her first cousins included (among others) John Tuchet, 8th Baron Audley, Thomas Grey, 1st Marquess of Dorset, Richard Grey, Elizabeth of York, Mary of York, Cecily of York, Edward V of England, Margaret of York, Richard of Shrewsbury, 1st Duke of York,
Richard Woodville, 1st Earl Rivers Richard Woodville, 1st Earl Rivers Richard Woodville (or Wydeville), 1st Earl Rivers (1405 – 12 August 1469) was an English nobleman, best remembered as the father of Queen consort Elizabeth Woodville and the maternal grandfather of Edward V and the maternal great-grandfather of Henry VIII. Born at Maidstone in Kent, Richard Woodville was the son of Richard Wydeville (Woodville), chamberlain to the Duke of Bedford, and Joan Bittlesgate (or Bedlisgate), the daughter of Thomas Bittlesgate of Knightstone in the parish of Ottery St Mary in Devon. He was also grandson of John Wydeville who was Sheriff of Northamptonshire (in 1380,