Manuel II Palaiologos
Andronikos Palaiologos was a son of the Byzantine Emperor Manuel II Palaiologos and his wife Helena Dragaš. His maternal grandfather was the Serb prince Constantine Dragaš. His brothers included emperors John VIII Palaiologos and Constantine XI Palaiologos, as well as Theodore II Palaiologos, Demetrios Palaiologos and Thomas Palaiologos, who ruled as despots in Morea.