Robert Poyntz (died 1520) daughter and only child of Anthony Woodville, 2nd Earl Rivers (c. 1440-1483), Knight of the Garter (brother of Queen Elizabeth Woodville who married King Edward IV), by his mistress Gwenlina Stradling, a daughter of William Stradling of St Donat's Castle in Glamorgan, Wales. The Heraldic Visitation of Gloucestershire records that:<br> By his wife he had five sons and four daughters including: In about 1520, at the end of his life, he built a fine chantry chapel as an addition to the Gaunt's Chapel in Bristol (today known as St Mark's Church, Bristol), to the east end of the south aisle,
Elizabeth Woodville present at the birth of her granddaughter Margaret at Westminster Palace in November 1489 and at the birth of her grandson, the future Henry VIII, at Greenwich Palace in June 1491. Her daughter Queen Elizabeth visited her on occasion at Bermondsey, although another one of her other daughters, Cecily of York, visited her more often. Henry VII briefly contemplated marrying his mother-in-law to King James III of Scotland, when James III's wife, Margaret of Denmark, died in 1486. However James III was killed in battle in 1488. Elizabeth Woodville died at Bermondsey Abbey on 8 June 1492. With the exception