Millicent De Stafford
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| Hervey De Stafford | |
| D: | 7 Oct 1241 |
| Mabel | |
| D: | Yes, date unknown |
| Robert De Stafford | |
| D: | Bef 4 Jun 1261 |
| Joan | |
| D: | Yes, date unknown |
| Nicholas De Stafford | |
| D: | Abt 1 Aug 1287 |
| Daughter of Geoffrey De Langley | |
| D: | Bef 1287 |
| Eleanor De Clinton | |
| D: | Yes, date unknown |
| Alice (of Caus) Corbet | |
| D: | Yes, date unknown |
| Hervey (De Stafford) Bagot | |
| D: | Bef 12 May 1237 |
| Pernell (of Derby) De Ferrers | |
| M: | Abt 1214 |
| D: | Yes, date unknown |
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| Millicent De Stafford | |
| D: | Jan 1224-1225 |
| Hervey (De Stafford) Bagot | |
| M: | Bef 1193 |
| D: | Bef 25 Aug 1214 |