He was succeeded by his younger brother Nicholas de Cantilupe, 3rd Baron Cantilupe (c.1301-1355), who in 1343 founded Beauvale Priory within his deer park at Greasley, with the consent of his distant cousin William La Zouche, Archbishop of York (the Zouche family was one of the two co-heirs of the senior line on the death of George de Cantilupe (1251-1273), 4th feudal baron of Eaton Bray, Lord of Abergavenny, descended from one of his two sisters.