Lancelot married 3 times: first in 1520 to Barbe de Liere d'Immersele, and third on 7 May 1543 to Adriana Rockox, who died in 1558.

He was the brother in law of John III van de Werve, Lord of Hovorst, Schepen of Antwerp, married to Clara Rockox.

His sister Mary was married to Martin, son of Gerald van de Werve, 5th Lord of Hovorst.

He died without male heirs, however his grandson Conrad III Schetz was adopted and took the name of Ursel.

In 1533 Lancelot of Ursel played a major part in the salvation of the Cathedral of Antwerp during the great fire.