In 1886, he was created Baron Kensington, of Kensington in the County of Middlesex, in the Peerage of the United Kingdom, which gave him a seat in the House of Lords. The same year the Liberals returned to power under Gladstone, and Kensington served briefly as a Lord-in-waiting (government whip in the House of Lords) from March until the fall of the government in July. The Liberals were out of office for the next six years, but returned to power in 1892, when Gladstone appointed him Captain of the Yeomen of the Guard. He retained this office when Lord Rosebery became Prime Minister in 1894. The Liberal government fell the following year, and Kensington never returned to office. Apart from his political career he also held the honorary post of Lord Lieutenant of Pembrokeshire between 1872 and 1896.