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Wilmot married, secondly, Mary, daughter of Sir Henry Colley of Castle Carbury and widow of Gerard Moore, 1st Viscount Moore of Drogheda, who died in 1627; she survived till 3 June 1654, being buried on 3 July with her first husband in St. Peter's Roman Catholic Church, Drogheda; her correspondence with the parliamentarians during the Irish wars gave James Butler, 1st Duke of Ormonde some trouble.
He was the eldest son of son of Henry Colley and Mary, daughter of Sir William Ussher; brother of Henry Colley, father of Garret Wesley, 1st Earl of Mornington, father-in-law to Chichester Fortescue and William Francis Crosbie, and grandfather of Arthur Wellesley, 1st Duke of Wellington and Richard Wellesley, 1st Marquess Wellesley.