He was born in Lethenborough, Buckinghamshire, the 5th son of Sir Richard Ingoldsby and his wife Elizabeth Cromwell.
Foreseeing the imminent Restoration of Charles II he raced to England as soon as he heard of Richard Cromwell's downfall and seized Windsor Castle, holding it for the now pro-monarchist Parliament against the republican forces.
After the Restoration of Charles II he was rewarded by being allowed to keep his Irish lands and have his Cromwellian baronetcy confirmed as Baronet of Beggstown, County Meath.
He was appointed to the Privy Council of Ireland, and continued to represent County Clare in the Irish House of Commons in 1661–1666 and 1695–1699.
He formed a regiment in 1689 to fight in Ireland for William III under General Schomberg, serving at the Siege of Carrickfergus.