Millicent de Stafford 
Millicent de was born about 1157 in Stafford, Staffordshire, England. Millicent de is no longer alive.General Notes
Millicent; married by 1193 Hervey Bagot later de Stafford (on acquiring the de Stafford inheritance through his wife; died by 12 May 1237) and died by Jan 1224/5. [Burke's Peerage]
Note; Burke's Peerage seems to indicate that Millicent is sister of Robert de Stafford & Basilia, rather than a daughter. The dates work better keeping her as a daughter?
‌Millicent de and Hervey were married in a religious ceremony before 1193. They had a son named William de.
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Children
William de Stafford , Sir
William de was born about 1193 in Stafford, Staffordshire, England. He died after 1251.
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