[2] Stafford was involved in the French campaigns of King Edward III of England during the Hundred Years' War.
His actions during the war are at times unclear, for the contemporary historian Jean Froissart often confused Richard with his brother Ralph.
During the campaign, Stafford participated in the siege of Bergerac, commanded the garrison at Libourne, and assisted in the relief of Auberoche, and the attack on La Réole.
He was sent to England with letters in December, but rejoined the prince's army afterwards and fought at the Battle of Poitiers on 19 September 1356.
He died on 13 August 1380 and was buried at the St Andrew's Church, Clifton Campville, Staffordshire.