Ingrams was the daughter of Mervyn Herbert, 17th Baron Darcy de Knayth (also known as Viscount Clive, his courtesy title as son of the Earl of Powis); and his wife Vida, née Cuthbert.
She inherited the barony in 1943, when her father was killed in action during the Second World War, flying a Mosquito as a squadron leader in the RAF.
She won a gold medal in swimming at the 1968 Summer Paralympics in Israel, and a bronze for table tennis at the 1972 Games in West Germany.
She was one of the first 16 hereditary peeresses admitted to the House of Lords in 1963, and spoke frequently on disability matters after taking up her seat in 1969.
The day after Lady Darcy's death, the House of Lords paid her warm tribute when it passed the third reading of the Disabled Persons (Independent Living) Bill.