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His father had obtained the wardship and marriage of the great heiress Eva de Braose, heiress of the de Braose dynasty of Welsh Marcher Lords, and married her off to his son William. William III de Cantilupe (d.1254), eldest son and heir, 3rd feudal baron.The male line died out on the death of the latter's son the 4th Baron in 1375.
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He signed and sealed the Barons' Letter of 1301 as Will(ielm)us de Cantilopo, D(omi)n(u)s de Ravensthorp and was present at the Siege of Caerlaverock Castle in 1300, during which his arms were recorded in verse on the Roll of Caerlaverock, blazoned in standard form as: Gules, a fess vair between three leopard's faces jessant-de-lys or, still visible sculpted on the chest tomb supporting the effigy of the 3rd Baron (younger son of the 1st Baron) in Lincoln Cathedral. He married Eva de Boltby, heiress of Ravensthorpe and Boltby. His son and heir was William de Cantilupe, 1st Baron Cantilupe (1262-1308) of Ravensthorpe Castle in the parish of Boltby, North Yorkshire, who was created a baron by writ on his summons to Parliament in 1299.
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John's grand-daughter and eventual sole heiress was Eleanor de Cantilupe, who married Sir Thomas West (1251-1344), whose descendants survive today as Earls De La Warr and quarter the arms of Cantilupe of Hempston as Azure, three leopard's heads reversed jessant-de-lys or. His younger sons were Walter de Cantilupe (died 1266), Bishop of Worcester and Sir John I de Cantilupe (fl.1251) of Hempston Cauntelow near Totnes in Devon, who married Margaret Cumin, heiress of Snitterfield in Warwickshire.
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The de Cantilupe family which came to England at some time after the Norman Conquest of 1066 originated at one of three similarly named manors in Normandy, from which they took their name: Canteloup in Calvados, east of Caen Canteloup in Manche east of Cherbourg on the eastern tip of the Cherbourg Peninsula ( Cotentin) or Chanteloup in Bréhal, Manche, on the south-west side of the Cherbourg Peninsula, favoured by most sources as an ancient castle survives there. Eaton had been held at the time of William the Conqueror by the latter's uterine half-brother Odo, Bishop of Bayeux, but later escheated to the crown. The grant was for knight-service of one knight and was in exchange for the manor of Great Coxwell, Berkshire, which had been granted to him previously but the grant was deemed compromised. In 1221 Cantilupe built a castle at Eaton, which became the caput of his feudal barony and was described by the monks of nearby Dunstable Priory in the Annals of Dunstable as being "a serious danger to Dunstable and the neighbourhood". The feudal barony of Eaton Bray in Bedfordshire was an English feudal barony founded in 1205 when the manor of Eaton (from 16th-century " Eaton Bray") was granted by King John to his household steward William I de Cantilupe (d.1239), together with many others, includingĪston (later Aston Cantlow) in Warwickshire. Left: Arms of William I de Cantilupe (d.1239), 1st feudal baron: Gules, three fleurs-de-lys or ("Cantilupe ancient"), as seen on his seal (right) in later generations the arms changed to three leopard's faces jessant-de-lys