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Grafton married Lady Charlotte Maria Waldegrave (1761–1808), daughter of James Waldegrave, 2nd Earl Waldegrave, on 16 November 1784 at Navestock, Essex.
Sir Henry married Henrietta FitzJames (1667 – 3 April 1730), daughter of King James II by his mistress Arabella Churchill; their son was James Waldegrave, 1st Earl Waldegrave (1684–1741).