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, 3rd Earl Rivers Anthony, however, he was not given any special favours under Edward. J. R. Lander states that he was employed in a minor capacity on "various embassies and commissions". When Richard III executed Richard's brother Anthony and seized the throne, Richard Woodville became Earl Rivers. The king confiscated Richard's lands but did not otherwise persecute him. Richard seems to have participated in some way in Buckingham's rebellion in 1483, as he was attainted in that year. However, he was later pardoned. It is not known whether or not he joined Henry Tudor in 1485, but after Henry's victory his estates were