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,
Manor of Iron Acton Cocks, of Bristol, who survived him and remarried to Sir Edward Berkeley of Beverstone castle. By his wife he had children: Sir Robert Poyntz (died 1520), eldest son and heir, a supporter of the future King Henry VII at the Battle of Bosworth in 1485. He was buried in the Gaunt's Chapel, Bristol, in the magnificent "Chapel of Jesus" (known as the "Poyntz Chapel"), a chantry chapel built by him. He married Margaret Woodville, the illegitimate 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