Throughout her life, Lettice Knollys cared for her siblings, children, and grandchildren. Until their respective deaths in 1607 and 1619, her daughters Penelope and Dorothy were her closest companions. The young third Earl of Essex, also called Robert, shared much of his life with the old Countess at Chartley and Drayton Bassett. Still walking a mile a day at nearly 90, she died in her chair in the morning of 25 December 1634, aged 91. Widely mourned as a symbol of a by-gone age, she wished to be buried "at Warwick by my dear lord and husband the Earl of Leicester with whom I desire to be entombed". Her request was respected and she came to rest in the Beauchamp Chapel of Collegiate Church of St Mary, Warwick, opposite the tomb of her son, young Lord Denbigh.