He was the eldest son of Roger Thorpe of Birdsall, North Yorkshire and of his wife Elizabeth, daughter of William Danyell of Beswick.
He was made recorder of Beverley in 1623, and held the post until raised to the bench in 1649, when he was succeeded by his stepson, William Wise.
He was recorder of Kingston upon Hull from 1639 till 1648, and made the public speech at the reception of Charles I on his visit to the town in April 1639.
On the outbreaking of the First English Civil War, Thorpe took the side of Parliament, serving in its army and attaining the rank of colonel.
[1] In March 1655 Thorpe was again on the western circuit, and on 3 April he received a special commission for the trial of those apprehended in the recent insurrection in the west.
Thorpe and Sir Richard Newdigate raised objection to dispensing with the usual lapse of fifteen days before proceeding with a newly issued commission, and they expressed doubt as to whether the offence with which the prisoners were charged could legally be declared to be treason.
The consequent delay on the part of the judges in proceeding in the matter was interpreted as a refusal to serve, and writs of ease were issued to both Thorpe and Newdigate on 3 May.
[1] Thorpe's disgrace at court increased his popularity in the north, and he was elected to represent Yorkshire in the parliament of September 1656.
[1] Thorpe married Elizabeth, daughter of William Oglethorpe of Rawden, and widow of Thomas Wise and of Francis Denton.
She survived him, her last husband, till 1 August 1666, and was buried at Bardsey, where her son, William Wise of Beverley, erected a monument to her memory.