The 3rd Duke left only an illegitimate daughter, Margaret Burr, who married the artist Thomas Gainsborough.

On 18 October 1760, Beaufort began his studies at Oriel College, Oxford, graduating on 7 July 1763 with a Doctor of Civil Laws (DCL) degree.

Together they had four daughters and nine sons: Lord Beaufort died on 11 October 1803 and was buried at St Michael and All Angels Church, Badminton.

The body exhumed was positively identified by matching his mitochondrial DNA with two living descendants of his eldest sister, Anne of York).

The fifth was not related at all, indicating an additional non-paternity event had occurred in the 5th Duke's male line in recent generations.