Complex sentence: The escape was discovered too late and Waller, rather than Essex, was quick to pursue and managed to cut off some stragglers in Burford, but the King and his forces had got safely away and continued to march on to Worcester.
Split into simpler sentences: The escape was discovered too late and Waller, rather than Essex, was quick to pursue and managed to cut off some stragglers in Burford. The King and his forces had got safely away and continued to march on to Worcester.