His issue, before his marriage to his third consort, Catherine Swynford, were legitimated by Act of Parliament, 9th February 1397. They were all surnamed "De Beaufort," having been born at Beaufort Castle in France, which had devolved to the Huse of Lancaster by the marriage of Blanche of Artois with Edmund, Earl of Lancaster. They were:

1. John Beaufort, Earl of Somerset and Marquis of Dorset, KG
2. Henry Beaufort, Bishop of Lincoln, afterwards of Winchester, and, at length, Cardinal and Chancellor of England
3. Thomas Beaufort, Duke of Exeter, KG
4. Joan Beaufort, married, firstly, to Sir Robert Ferrers of Worn and Oversley; and, secondly, to Ralph Neville, Earl of Westmorland. Her grandsons included Richard, Earl of Warwick 'the Kingmaker,' Kings Edward IV and Richard III.

Edited from George Frederick Beltz's "Memorials of the Most Noble Order of the Garter" (1861)