He married Beatrice Stafford, daughter of the earl of Stafford, and she brought him the manor of Braunston in her dowry. Their children were:
* John de Ros, 6th Baron de Ros
* William de Ros, 7th Baron de Ros
* Sir Thomas de Ros
* Margaret de Ros, married Reginald Grey, 3rd Baron Grey de Ruthyn
* Elizabeth de Ros, married Thomas de Clifford, 6th Baron de Clifford
In 1364, he accompanied the king of Cyprus to the Holy Land; and was in the French wars, from 1369 to 1371. He was summoned to parliament by both King Edward III of England and King Richard II of England. He died at Uffington, and was buried at Rievaulx Abbey. His widow became the wife of Sir Richard Burley.