Margaret II Audley (died 1373[3]) was a co-heiress to the feudal barony of Barnstaple in Devon, England.

Margaret was a daughter of James Audley, 2nd Baron Audley (1312/13–1386), seated at the manor of Tawstock, feudal baron of Barnstaple, by his second wife Isabel LeStrange, daughter of Roger le Strange, 5th Baron Strange (c. 1327–1382) of Knokyn.

[4] In 1370 James Audley settled the manor of Tawstock in tail male successively to his three sons from his second marriage, thus Margaret's brothers, Thomas, Rodeland and James, who all died childless.

The FitzWarin family were powerful Marcher Lords seated at Whittington Castle in Shropshire and at Alveston in Gloucestershire.

elizabeth married secondly Hugh Courtenay (died 1425) Margaret died in 1373 and it is believed that she is represented by the oak effigy of a recumbent lady formerly in a niche in the north wall of St Peter's Church, Tawstock, from where it was removed to the Museum of Barnstaple and North Devon in Barnstaple.