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,
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