He was born the eldest son of Sir John Danvers of Dauntsey, Wiltshire and Elizabeth, fourth daughter and coheiress of John Neville, Baron Latimer.
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She was the mother of Sir Charles Danvers, executed in 1601 for his part in the rebellion of Robert Devereux, 2nd Earl of Essex, and of Sir John Danvers, one of the commissioners who tried King Charles I and signed the King's death warrant.