Elizabeth I was born on 7 September 1533 at Greenwich Palace. She was the daughter of Henry VIII and his second wife Anne Boleyn. Her mother was executed for alleged adultery and treason in May 1536 and within two months of her mother’s death Parliament had confirmed that Elizabeth’s parents’ marriage was invalid and that Elizabeth was illegitimate.
In 1547, following her father’s death, Elizabeth moved in with her stepmother the Dowager Queen Catherine Parr, and her husband Thomas Seymour. There, she became involved in a scandal with Seymour, who would visit Elizabeth’s chamber, dressed only in his night-gown, and proceed to tickle and stroke the teenaged girl. Eventually, Catherine arranged for Elizabeth to go and live with her good friends, Sir Anthony Denny and his wife at Cheshunt. Catherine died in September 1548, following the birth of her daughter, and Seymour was executed in March 1549 for allegedly plotting to control his nephew Edward VI and to remove his brother, Edward Seymour, Lord Protector, from power.
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On this day in history, the 18th October 1555, Elizabeth, daughter of Henry VIII and Anne Boleyn, finally received permission from her half-sister, Mary I, to leave court and travel to her own estate at Hatfield, rather than return to house arrest in Woodstock.