Millicent Bagot (de Stafford) - Millicent de Stafford

According to Foundations of Medieval Genealogy
Millicent was the daughter of ROBERT [II] de Stafford (-[1178/84], bur Stone Priory) and AVICE, daughter of --- (-bur Stone), not Basilia. It has Basilia as the wife of Robert lll d 1193. This Robert is Millicent's brother.

"MILLICENT de Stafford (-before Jan 1225, bur Stone Priory). “Herveus…dominus de Stafford” confirmed donations to Wotton Wawen Abbey, Warwickshire by “Robertus de Tony et Nicolaus filius suus de Stafford et Robertus filius eius” by undated charter which names “dominus Robertus de Stafford, pater uxoris meæ”[505]. Her name is confirmed by the undated charter under which her son “Willelmus de Stafford filius Hervei Bagot” confirmed donations to the priory of St Thomas, Stafford, with the consent of “fratris mei Hervei Bagot…matris meæ Mylisent”[506]. m (before 1193) HERVEY Bagot, son of --- (-before 25 Aug 1214, bur Stone Priory). He adopted the name “Stafford”.