In November 1558 Queen Mary died and Elizabeth I acceded to the throne, and on 14 January 1559 Dorothy Stafford and her children left Basel for England.

[5] She received £20 yearly on St Andrew's Day with fabric for her livery clothes of russet satin edged with black velvet.

According to Thomas Churchyard, ‘a costly and delicat dinner’ was put on for the occasion, and tradition has it that during the visit the Queen dropped a silver-handled fan into the moat.

By 1588, through the influence of Lord Willoughby, then in command of English forces in the Low Countries, Drury was appointed Governor of Bergen-op-Zoom in the Netherlands, but was replaced by Thomas Morgan.

[19] Dame Elizabeth Drury continued to serve the Queen as a Lady of the Bedchamber until her death in 1599.

[5] Elizabeth Stafford married firstly Sir William Drury (d. 8 January 1590),[22] the eldest son of Robert Drury (d. 7 December 1557),[23][21][24] esquire, and Audrey Rich, the daughter of Richard Rich, 1st Baron Rich, Lord Chancellor of England,[25] by whom she had two sons and four daughters:[26] After the death of Sir William Drury, Elizabeth Stafford married secondly, Sir John Scott.