In November 1337, Richard participated in the victory at Cadzand and was in the king's army at present at the bloodless meeting of the English and French armies in October 1339 at Vironfosse. His brother held command of the English forces during the Gascon campaign of 1345, and Richard was among the prominent leaders of the campaign. During the campaign, Stafford participated in the siege of Bergerac, commanded the garrison at Libourne, and assisted in the relief of Auberoche, and the attack on La Réole. Stafford also participated in the Battle of Crécy in 1346; after the battle, Stafford and Reginald de Cobham, 1st Baron Cobham were tasked to count the slain. He was also at the Siege of Calais between 1346 and 1347.