Henry Rich, later Lord Holland, was the second son and youngest of four children born to Robert Rich, 1st Earl of Warwick (1559-1619) and his first wife Penelope (1563-1607). His parents separated soon after Henry's birth, although they did not formally divorce until 1605, when Penelope married her long-time partner, Charles Blount, 8th Baron Mountjoy (1563-1606). Penelope was sister of the Earl of Essex, executed for treason in 1601, making Rich a cousin to future Parliamentarian general Robert Devereux, 3rd Earl of Essex.