[1][2] After two failed attempts to relieve the city, the siege ended on June 28, 1586, with the capitulation and the withdrawal of the Dutch garrison.

[3][4][5] According to John Lothrop Motley, during the siege, there was an important event when the troops of Maarten Schenck and Roger Williams arrived near Venlo to relieve the Dutch garrison.

[6] At that night (about 170 Dutch and English soldiers led by Schenck and Williams) they passed through enemy lines with stealth, killed several Spanish soldiers, and even reached the door of the Prince of Parma's tent, where they killed Parma's secretary and his personal guard.

[3][6] After the capture of Venlo, in mid-July 1586, the Spanish army led by Don Alexander, surrounded the city of Neuss (or Nuys), an important Protestant stronghold in the Electorate of Cologne, as part of Spanish support to Ernest of Bavaria in the Cologne War.

[8] On May 21, 1597, Maurice of Nassau tried to capture Venlo by surprise, but the operation was a failure due to the great defense of the Spanish garrison, supported by the population of the city.