Born in Munich, she was the daughter of Albert IV, Duke of Bavaria, and Kunigunde of Austria, herself the daughter of Holy Roman Emperor Frederick III and Eleanor of Portugal.

Her paternal grandparents were Albert III, Duke of Bavaria, and Anna of Brunswick-Grubenhagen-Einbeck.

Via this daughter, Susanna became an ancestress of King George I of Great Britain and the House of Hanover.

Susanna died on 23 April 1543 in Neuburg an der Donau.

She never became Electress Palatine, since she died before her second husband acquired the electoral dignity.