The village of Grafton Regis was mentioned in the Domeday Book of 1086 as Grastone. The old church, dating back to Norman times, has dominated the skyline of Grafton for almost 1000 years. The Woodville family lived in the village from the 12th century. In 1464 Edward IV married Elizabeth Woodville in secret: the marriage is believed to have taken place at the hermitage, the site of which is still visible today.
Their grandson Henry VIII stayed at Grafton Manor on many occasions and bestowed the designation of Regis on Grafton. The strategic importance of the village gave it a brief involvement in the English Civil War in 1643.
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