Her mother was the daughter of Joan of Acre, Princess of England; thus making Margaret a great-granddaughter of King Edward I by his first consort, Eleanor of Castile.
As the only daughter and heiress of her father, she succeeded to the title of 2nd Baroness Audley [E., 1317] on 10 November 1347.
[1] Margaret was abducted by Ralph, Lord Stafford, who had helped Edward III take the throne.
After the abduction, her parents filed a complaint with the king, but Edward supported Stafford.
Margaret de Audley and Stafford married before 6 July 1336.