After the death of his first wife he married, in 1465, Elizabeth Grey c.1440 – 1501, daughter of Henry Grey, 2nd Earl of Tankerville and Antigone Plantagenet, great-granddaughter of Henry IV of England.
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Humphrey Kynaston, who later became infamous as Wild Humphrey Kynaston, the highwayman, who operated in the area to the North West of Shrewsbury.
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The two forces clashed in the Battle of Blore Heath on 23 September 1459 and Audley was killed by Sir Roger Kynaston of Stocks near Ellesmere (Kynaston incorporated emblems of the Audley coat-of-arms into his own).