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,
Anthony Woodville, 2nd Earl Rivers to London under an armed guard. They were intercepted by Richard, Duke of Gloucester (later King Richard III), who arrested the Earl, along with his nephew Sir Richard Grey, the young king's half-brother. Both men were imprisoned and then beheaded at Pontefract Castle on 25 June 1483 as part of the duke's path towards kingship (as Richard III). Anthony was succeeded by his brother Richard Woodville, 3rd Earl Rivers. The Scales lands inherited from his wife were bequeathed to his younger brother Edward Woodville, but King Richard III ignored Anthony's wishes as Edward had joined Henry Tudor. He married twice,