Waller now joined Essex to attack Oxford; to avoid being trapped there, Charles and the main Royalist field army retreated to Worcester; Essex ordered Waller to follow him, while he went west to relieve the siege of Lyme Regis. On 29 June, Waller clashed with Charles at Cropredy Bridge; his losses were minimal, but his men were demoralised. His army disintegrated, causing panic in London, and allowing Charles to pursue Essex into the West Country. Essex was defeated at Lostwithiel in September and although he escaped with the cavalry, 5,000 infantry were forced to surrender. At Second Newbury on 27 October, the Royalists lifted the siege of Donnington Castle; lack of co-ordination among the Parliamentary forces under Waller, Essex and Manchester allowed Charles to re-enter Oxford.