He died without male issue and was succeeded by his second cousin once removed, Richard, 6th Earl, and present holder of the titles.

In July 1415, he was one of the seven peers who tried Richard, Earl of Cambridge, on charges of conspiring against the King.

I arrest thee of high treason, by the name of Richard Earl of Cambridge.

Was not thy father, Richard Earl of Cambridge, For treason executed in our late king's days?

In 1658, Richard, Earl of Dorset held a watermill at Newbridge.

The appointment was to be for the life of his father, Richard Earl of Cornwall, the king's brother, with reversion to the Crown.

In 1344 he was fighting overseas with Richard, Earl of Arundel.

His grandfather, Richard, Earl of Westmorland, had had twenty-three children from his two marriages.

Children of Richard, Earl of Cornwall and Joan were:

Anne, who married Richard, Earl of Cambridge (executed 1415)