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Two places named Baconsthorpe were mentioned in the Domesday Book, both in Norfolk. The one with a castle, 3 miles from Holt, is the Baconsthorpe referred to.
At least two other versions exist, so this version is not necessarily accurate. This version follows www.stirnet.com.
[BACO311] Anchetal de Bacon m. ? . [BACO411] Grimbaldus of Letheringsett m. ? . . [BACO421] Ralph FitzGrimbaldus de Beccen Thorpe m. ? . . . [BACO431] George FitzGrimbaldus de Beccen m. ? . . . . [BACO441] Roger Bacon of Wetheringsett m. ? . . . . . [BACO451] Robert Bacon of Wetheringsett m. ? . . . . . . [BACO461] Reginald Bacon of Lodie m. ? . . . . . . . [BACO471] Richard Bacon of Lodie m. [MYNS482] Alice Mynston . . . . . . . . [BACO481] Sir Robert Bacon m. [INGH492] --- de Ingham . . . . . . . . . [BACO491] Sir Henry Bacon m. [LUDH502] Margaret Ludham . . . . . . . . . . [BACO501] Sir Henry Bacon m. ? . . . . . . . . . . . [BACO511] Roger Bacon m. [KIRT512] Felicia Kirton . . . . . . . . . . . . [BACO522] Dorothy Bacon m. [SULY521] John Sulyard . . . . . . . . . . . . [BACO523] Catherine Bacon m. [ASTL521] Thomas Astley of Hillmorton
30. [BACO410] Anchetal de Bacon (presumably of Bacon, an ancient Seigneury in Normandy).
29. [BACO411] Grimbaldus of Letheringsett (born in Normandy, c.1075).
28. [BACO421] Ralph FitzGrimbaldus de Beccen Thorpe, of Letheringsett (born c.1106).
27. [BACO431] George FitzGrimbaldus de Beccen, of Letheringsett (born c.1139).
26. [BACO441] Roger Bacon [born c.1170], of Letheringsett, died after 1216.
25. [BACO451] Robert Bacon [born c.1192], of Letheringsett.
24. [BACO461] Reginald Bacon (born c.1215), of Lodie.
23. [BACO471] Richard Bacon [born c.1235], of Lodie, married [MYNS482] Alice (daughter of 24. Conan Mynston, suggested son of 24. Elias Mynston [Moulton]).
22. [BACO481] Sir Robert Bacon [born c.1260] married [INGH492] --- de Ingham (daughter of 23. Richard de Ingham/Hingham).
21. [BACO491] Sir Henry Bacon [born c.1285] married [LUDH502] Margaret (born c.1288, daughter of 22. Henry Ludham).
20. [BACO501] Sir Henry Bacon [born c.1310].
19. [BACO511] Roger Bacon (born at Baconsthorpe, [c.1335]) married [KIRT512] Felicia ([born c.1335], daughter of 20. Robert Kirton). Roger died 1394. Roger appears to have had only three children, all daughters. Beatrix (the eldest) married William Thorpe.