The castle was restored to the fourth Earl in 1470. The principal seat of the Percys was Alnwick Castle and Prudhoe was for the most part let out to tenants. In 1528 however Henry Percy 6th Earl was resident at the castle as later was his brother Sir Thomas Percy. Both the Earl and Sir Thomas were heavily involved in the Pilgrimage of Grace in 1536 and both were convicted of treason and executed. Following forfeiture of the estates the castle was reported in August 1537 to have habitable houses and towers within its walls, although they were said to be somewhat decayed and in need of repairs estimated at £20.