It is recorded in the Domesday Survey as being held by Robert ( probably Robert de Basqueville, father of Ralph de Baskerville) from Roger de Lacy.
Weobley passed to his brother Hugh de Lacy who died before 1115 when the de Lacy lands passed to Pain fitzJohn.
Stanton Lacy can trace its history as far back as the Norman conquest of 1066, and is generally considered to be founded by Roger de Lacy around that time.
At this time, the manor of Tarrington was held by Roger de Laci, and under him by Ansfrid de Cormeilles, who came to England with William the Conqueror.
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After the Norman invasion of England and Wales in the late 11th century, a small castle was built at Pont Hedre, close to the site of the current castle, by either Roger de Lacy or Pain fitzJohn in order to protect the river crossing there.