A son of Jocelyn de Angulo, 1st Baron of Navan, Gilbert held the barony of Machaire Gaileng (Morgallion and Ratoath).
Gilbert fled English jurisdiction and sought service with King Cathal Crobhdearg Ua Conchobair of Connacht.
Brought back into John's favour, he assisted Cathal in the construction of Caeluisce, near Ballyshannon, in 1212.
However, as all his lands were held by new owners subsequent to Richard Mor de Burgh's settlement of Connacht in the 1230s, it appears his family had by then died out in the male line.
From the Annals of the Four Masters: The Song of Dermot and the Earl (composed early 13th century) mentions the de Angulo family, and casts doubt upon Gilbert's paternity.