Margaret did not bear Walter any children, and when he died suddenly at Goodrich Castle on 24 November 1245, the earldom passed to his younger brother, Anselm Marshal, 6th Earl of Pembroke, who followed him to the grave a month later.
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The earldom of Pembroke lay vacant until 1247, when it was recreated for William de Valence, husband of Joan de Munchensi, heiress of Anselm's sister Joan and her husband Warin de Munchensi.