As they charged up the steep slopes towards the Parliamentarian position on the crest, Hopton's cavalry suffered badly, and many panicked. 1,400 of them fled, some as far as Oxford. Under Sir Bevil Grenville, Hopton's Cornish pikemen stormed Waller's breastworks, while Royalist musketeers outflanked Waller's forces through the woods on each side of his position. Grenville was mortally wounded in hand-to-hand combat as Parliamentarian horse counter-attacked and were driven off. Waller's infantry fell back to a wall across the crest of the hill from where they kept up musket fire until dark fell. During the night, they withdrew silently, leaving burning matches on the wall to deceive the Royalists that they still held the position.