He was born at Great Waldingfield in Suffolk, second son of Thomas Crooke, rector of the parish and later reader at Gray's Inn; Samuel seems to have been a family name on the mother's side.
[1] His father was a prominent member of the "godly elite", whose Calvinist views caused the Church authorities to regard him with some suspicion, although his position at Gray's Inn protected him from any serious penalty.
[6] He is said to have caused controversy by his refusal to wear a surplice, upon which the dominant High Court faction in the Church which was led by Archbishop William Laud insisted, but which Samuel, like most radical Puritans, regarded as a symbol of Roman Catholicism.
In 1643 when King Charles I took control of Somerset, Samuel was considered influential enough to be singled out as a man whose recantation would be valuable.
In 1648 when a scheme for "Presbyterian Government" for Somerset was drawn up Samuel was appointed a superintendent for the Wrington district.