In 1355, Stafford followed the Edward the Black Prince to Gascony and participated in his expedition into France in 1355. He was sent to England with letters in December, but rejoined the prince's army afterwards and fought at the Battle of Poitiers on 19 September 1356. Stafford and his brother accompanied Edward III on his expedition to France in October 1359. He was appointed to the office of Seneschal of Gascony in 1361 and served until 8 June 1362. During 1366, Richard was appointed to go on an embassy, accompanied by his son Richard, to the papal court. Summoned to parliament, as Baron Stafford of Clifton, on 8 January 1371, and regularly summoned until 1379. He died on 13 August 1380 and was buried at the St Andrew's Church, Clifton Campville, Staffordshire. A memorial brass is located within St Peter's Church, Elford, Staffordshire.