[3] Lepida was the daughter of Antonia Major and Lucius Domitius Ahenobarbus, and granddaughter to triumvir Mark Antony by Octavia Minor, a great-niece of the Roman Emperor Augustus.

Their son, Faustus Cornelius Sulla Felix was born c. AD 22 and married Claudia Antonia, the daughter of Claudius through his second marriage to Aelia Paetina.

At the beginning of the reign of her son-in-law, Claudius, Lepida, now a widow, married Appius Junius Silanus, (cos.

Lepida was the maternal grandmother to Messalina's children Claudia Octavia (step-sister and first wife of Nero) and Britannicus.

In Messalina's last hour in the Gardens of Lucullus, Lepida was at her side and encouraged her to end her own life.

Agrippina charged Lepida with attempting to take her life by magic, disturbing Roman peace, and failing to control her Calabrian slave-gangs.