Poole was the son of Sir Henry Poole of Cirencester and Oaksey and his wife Griselda Neville, daughter of Edward Nevill, 7th Baron Bergavenny.
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Lady Fane claimed the barony of Abergavenny against Edward Nevill, the heir male upon whom the castle of Bergavenny was settled as aforesaid, and as a compromise, she was by letters patent, 25 May 1604, confirmed in the name, style, and dignity of Baroness le Despencer, to the heirs of her body, with the ancient seat, place, and precedence of her ancestors.