She then worked at St. Vincent's Hospital from 1963 to 1969, before leaving for the United Kingdom to study law at the University of London.
She returned to Australia and was admitted to the Supreme Court of New South Wales as a barrister in 1976, and was in private practice 1976–80.
In 1995, she was elected to the New South Wales Legislative Council as a Labor member, but resigned to resume her legal career in 1997.
In January 2013, Staunton was appointed as a part-time Deputy President and Member of the NSW Mental Health Review Tribunal.
[citation needed] She is the original author (and now co-author) of the book "Law for Nurses and Midwives", currently in its seventh edition.