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 Stafford, Duchess of Norfolk Lady Katherine Woodville (sister of queen consort Elizabeth Woodville), and on her mother's, Henry Percy, 4th Earl of Northumberland, and Lady Maud Herbert. Her paternal grandfather, the 2nd Duke, was executed for treason in 1483 by King Richard III, and in 1521 her own father suffered the same fate when he was beheaded on Tower Hill for treason against King Henry VIII. Elizabeth had a brother and two sisters: Elizabeth's father is also said to have had three illegitimate children, who would have been Elizabeth's siblings of the half blood: Elizabeth lived at home until at least 1508. According to