Poynings was slain on 17 February 1461 while fighting on the Yorkist side at the Second Battle of St Albans.
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By his father's second marriage to Margaret Squery (d. 3 November 1448), widow of Sir William Cromer (d. January 1434), Lord Mayor of London, elder daughter of Thomas Squery of Westerham, Kent, Robert Poynings had a half sister, Eleanor Poynings, who married Thomas Palmer.
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