After Henry IV had interceded with Elizabeth I, and Gilbert Talbot, 7th Earl of Shrewsbury with Sir Robert Cecil, the brothers were pardoned on 30 June 1598, and they returned to England in the following August; but it was not until 1604 that the coroner's indictment was found bad on a technical ground and the outlawry reversed. Henry was, soon after his return, employed in Ireland under the Earl of Essex, and Charles Blount, 8th Baron Mountjoy, successive lords-lieutenant of Ireland. In September 1599 he was appointed lieutenant-general of the horse, in July 1601 governor of Armagh, and in July 1602 sergeant-major-general of the army in Ireland. By James I he was created Baron Danvers of Dauntsey, Wiltshire, in 1603 for service during the victory at Kinsale in Ireland, and two years afterwards was restored in blood as heir to his father, notwithstanding the attainder of his elder brother Charles, who had been beheaded in 1601 for his share in Essex's insurrection.