He was one of eight children which included other notable people such as Sir Thomas Lucas, Sir Charles Lucas (d.1648), both Royalist officers, and the philosopher Margaret Cavendish.

Lucas was an early public supporter of the Royalist cause and in 1638 he was appointed to the household of the eight year old Prince of Wales.

[2] His house in Colchester, St John's, was attacked by a crowd during the Stour Valley Riots of 1642 and he was imprisoned by Parliamentarian forces early in the First English Civil War, but escaped and fought for the king at the Battle of Naseby.

He was elected an Original Fellow of the Royal Society in 1663; he was possibly expelled in 1666.

Lucas had one surviving daughter, Mary Grey, Countess of Kent, who was created suo jure Baroness Lucas of Crudwell at her father's request.