In 1563 Dorothy was appointed Mistress of the Robes to Queen Elizabeth, and exercised much influence at the royal court.

Two years later she used her influence to secure the prestigious office of English Ambassador to France for her eldest son, Sir Edward Stafford.

Her eldest daughter, Elizabeth Stafford, was a Lady of the Bedchamber, and her son-in-law, Richard Drake, served as the Queen's Equerry.

She served Queen Elizabeth 40 Yeeres, lying in the Bedchamber, esteemed of her, loved of all, doing good, all she could, to every Body, never hurt any; a continual Remembrancer of the Suits of the Poor.

As she Lived a religious Life, in great Reputation of Honour and Vertue in the World, so she ended in continual fervent Meditation, and hearty Prayer to God.

In whose Remembrance, Sir Edward Stafford, her sonne, hath caused this Memorial of her to be in the same Forme and Place as she herselfe long since required him.