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 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