[4] He was the second son and eventual heir of William Cary (1576–1652), lord of the manor of Clovelly in Devon, Justice of the Peace for Devon and Member of Parliament for Mitchell, Cornwall, in 1604,[5] by his second wife Dorothy Gorges (died 1622), eldest daughter of Sir Edward Gorges of Wraxall, Somerset by his wife Dorothy Speke.
Following the Restoration of the Monarchy in 1660, he was appointed Chaplain in Ordinary to King Charles II, after which he received the honour of a Doctorate in Divinity from Oxford University.
It was also the chosen abode of Christopher Monck, 2nd Duke of Albemarle, Lord Lieutenant of Devon, for three weeks in 1675 and again during the Monmouth Rebellion.
[11] In 1675 he succeeded to the paternal estates, including Clovelly, of his elder brother Sir Robert Cary (1610–1675), a Gentleman of the Privy Chamber to King Charles II who died unmarried and without children.
He married Anne Hancock, a daughter of William Hancock (died 1625), lord of the manor of Combe Martin, Devon, by whom he had numerous children including:[12] He died at Shobrooke on 2 February 1680, but was buried in Clovelly Church, where his mural monument survives, erected by his eldest son Sir George Cary (1654–1685),[18] the armorials of the latter's two wives appearing on the top of the monument as follows: dexter: Azure, a chevron between three mullets pierced or (Davie of Canonteign, Christow); sinister: Or, a lion reguardant sable langued gules (Jenkyn of Cornwall).